{
 "status": "final",
 "updated": "2026-10-18T01:25:06+02:00",
 "dataset": "ws4/haller_open_the_box",
 "task": "open the box by pulling its handle",
 "rule": "held-out = last 3 good takes of P2 and of P3 (orchestrator); P1 (3 takes) folded into train; drop = review.json rejects",
 "layouts": {
  "P1": [
   0,
   1,
   2
  ],
  "P2": [
   3,
   4,
   5,
   6,
   7,
   8,
   9,
   10,
   11,
   12,
   13,
   14,
   15,
   16,
   17,
   18,
   19,
   20,
   21,
   22,
   23,
   24,
   25,
   26,
   27,
   28,
   29,
   30,
   31,
   32,
   33,
   34,
   35,
   36,
   37,
   38
  ],
  "P3": [
   39,
   40,
   41,
   42,
   43,
   44,
   45,
   46,
   47,
   48,
   49,
   50,
   51,
   52,
   53,
   54,
   55,
   56,
   57,
   58,
   59,
   60,
   61,
   62,
   63,
   64,
   65,
   66,
   67,
   68,
   69,
   70,
   71,
   72,
   73,
   74
  ]
 },
 "drop": [
  3,
  7,
  16,
  19,
  21,
  28,
  41,
  46,
  47,
  70
 ],
 "heldout": {
  "P1": [],
  "P2": [
   36,
   37,
   38
  ],
  "P3": [
   72,
   73,
   74
  ]
 },
 "train": [
  0,
  1,
  2,
  4,
  5,
  6,
  8,
  9,
  10,
  11,
  12,
  13,
  14,
  15,
  17,
  18,
  20,
  22,
  23,
  24,
  25,
  26,
  27,
  29,
  30,
  31,
  32,
  33,
  34,
  35,
  39,
  40,
  42,
  43,
  44,
  45,
  48,
  49,
  50,
  51,
  52,
  53,
  54,
  55,
  56,
  57,
  58,
  59,
  60,
  61,
  62,
  63,
  64,
  65,
  66,
  67,
  68,
  69,
  71
 ],
 "counts": {
  "episodes": 75,
  "good": {
   "P1": 3,
   "P2": 30,
   "P3": 32
  },
  "good_total": 65,
  "heldout_total": 6,
  "train_total": 59
 },
 "notes": {
  "task_arm": "robot RIGHT arm = haller 'left' = left_* columns and observation.images.left_wrist; the pen arm (right_*) is parked and holding",
  "end_state": "takes end with the box arm HOLDING the lid open (returning home closes the lid; Oscar). Not a return to home.",
  "start_pose": "box arm at home, median left_* [0.2, 6.4, 0.9, 0.8, 0.2, 99.5]; ep 26 started away from home (noted in review.json)",
  "positions": "provisional, from head frames (Oscar did not name them): P1 eps 0-2 first box setup; P2 eps 3-38 box with the red tab handle on its left edge; P3 eps 39-74 box shifted left and rotated (final setup per Oscar's photo at the end)",
  "parked_arm": "pen arm right_* tucked [-1.1, -102.5, 95.9, 37.7, -11.1, 2.4] at the start; moved by hand around eps 6-7 to [1.3, -83.7, 81.8, 82.8, -10.3, 0.9], pan drifting to 5.4 by ep ~35. Range eps 7-74: min [1.1, -95.5, 81.8, 44.4, -10.5, 0.9] max [5.4, -83.0, 81.9, 83.2, -10.1, 0.9]",
  "box_arm_hold_after_session": "after the last take the box arm holds the lid at left_* [12.13, -13.80, 12.26, 37.54, 29.93, 0.87] (gripper closed on the flap), load <= 0.11; this is the start pose for the green-pen and cutter sessions",
  "rate": "30 Hz except eps 31 (29.50), 43 (29.76), 73 (29.82) during other jobs' CPU spikes; gaps > 100 ms in eps 1, 31, 43, 73 (max 182 ms in ep 43); 3 cameras push typical max gaps to 50-70 ms",
  "integrity": "225 video files: packets == rows; timestamps exactly frame_index/30; action != state on the task arm in every episode"
 }
}