Datasets:

declare-lab
/

RoboQuest

+ {"task":"odd_parcel","id":"87563b7163cfa77c","version":"captions_v31b 2026-10-05","source_v2_sha256":"20396c7cc09970da492892f5e19c021031956b4607bd3e5d158d31e3972f48b8","goal":"There are parcels on the counters in this kitchen. Most of these parcels weigh the same; fewer than half weigh differently. Put every parcel that weighs differently in the box and nothing else, leave the balance where it stands, then press Submit. Other objects on the counter are not part of the task; you may move them if needed.","task_caption":null,"n_ticks":6657,"changes_v3":[{"old":"drive to the annex and pick up parcel_2","new":["look around for the missing parcel","drive to the annex and pick up the parcel there"],"split_at":110,"reason":"fetched object first visible at this tick"},{"old":"drive to the annex and pick up parcel_2","new":"drive to the annex and pick up the parcel there"},{"old":"carry parcel_2 back to the work frame","new":"carry the parcel back to the other parcels"},{"old":"drive to the annex and pick up parcel_3","new":"drive to the annex and pick up the parcel there"},{"old":"carry parcel_3 back to the work frame","new":"carry the parcel back to the other parcels"}],"segments":[{"caption":"look over the counter","start":0,"end":30,"kind":"look","caption_grounding":{"version":2,"start_tick":0,"caption":"look over the counter (left/right stay fixed from the starting aisle)","targets":[],"reference_frame":{"name":"task_work_frame","origin_world":[1.6959998981443962,-3.0642499932569778,0.92],"yaw_rad":-1.570796292566348,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"4 parcels on the counter, a balance and an answer box","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_0","parcel_1","parcel_2","parcel_3"]},"caption_v1":"look over the counter (left/right stay fixed from the starting aisle)"},{"caption":"clear what hides a parcel and bring every parcel within reach","start":30,"end":2021,"kind":"uncover","parts":["parcel_2","parcel_3"],"mechanisms":["annex"],"caption_grounding":{"version":2,"start_tick":30,"caption":"clear what hides a parcel and bring every parcel within reach","targets":[{"label":"the rightmost front-right parcel on the counter","location":"counter","position_task":[1.895180536552913,-1.7595074412767697,0.024978591503020398],"stack":{"below":null,"above":[],"members":["parcel_2"]},"candidate_ids":["parcel_2"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_2","generated_at_tick":30,"reference_frame":{"name":"task_work_frame","origin_world":[1.6959998981443962,-3.0642499932569778,0.92],"yaw_rad":-1.570796292566348,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[-0.06350747826309283,-4.959430590035276,0.9449785915030204],"stack_contact_pairs":[]},{"label":"the leftmost front-right parcel on the counter","location":"counter","position_task":[1.7405889615731824,-1.8328269195518954,0.024946594839257097],"stack":{"below":null,"above":[],"members":["parcel_3"]},"candidate_ids":["parcel_3"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_3","generated_at_tick":30,"reference_frame":{"name":"task_work_frame","origin_world":[1.6959998981443962,-3.0642499932569778,0.92],"yaw_rad":-1.570796292566348,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[-0.1368269618296641,-4.804839017565165,0.9449465948392571],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[1.6959998981443962,-3.0642499932569778,0.92],"yaw_rad":-1.570796292566348,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"every parcel is uncovered and on the counter","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_0","parcel_1","parcel_2","parcel_3"]}},{"caption":"look around for the missing parcel","start":30,"end":110,"kind":"look","skill":"fetch","caption_v2":"drive to the annex and pick up parcel_2","split":"before first sight"},{"caption":"drive to the annex and pick up the parcel there","start":110,"end":454,"kind":"look","skill":"fetch","split":"after first sight","caption_v2":"drive to the annex and pick up parcel_2"},{"caption":"carry the parcel back to the other parcels","start":454,"end":1033,"kind":"look","skill":"fetch","caption_v2":"carry parcel_2 back to the work frame"},{"caption":"drive to the annex and pick up the parcel there","start":1033,"end":1415,"kind":"look","skill":"fetch","caption_v2":"drive to the annex and pick up parcel_3"},{"caption":"carry the parcel back to the other parcels","start":1415,"end":1984,"kind":"look","skill":"fetch","caption_v2":"carry parcel_3 back to the work frame"},{"caption":"drive up to the balance","start":2021,"end":2191,"kind":"drive","parts":["left_pan","right_pan"],"caption_grounding":{"version":2,"start_tick":2021,"caption":"drive up to the balance","targets":[],"reference_frame":{"name":"task_work_frame","origin_world":[1.6959998981443962,-3.0642499932569778,0.92],"yaw_rad":-1.570796292566348,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the robot stands at the balance, both pans within reach","reach":{"left_pan":{"ahead":0.504,"lateral":0.017},"right_pan":{"ahead":0.529,"lateral":-0.015}},"info":{"known_normal":[],"known_odd":[],"unknown":["parcel_0","parcel_1","parcel_2","parcel_3"]}},{"caption":"let the empty balance settle and read its resting tilt","start":2191,"end":2216,"kind":"probe","caption_grounding":{"version":2,"start_tick":2191,"caption":"let the empty balance settle and read its resting tilt","targets":[],"reference_frame":{"name":"task_work_frame","origin_world":[1.6959998981443962,-3.0642499932569778,0.92],"yaw_rad":-1.570796292566348,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the empty pans hang level","beam_deg":-0.0,"info":{"known_normal":[],"known_odd":[],"unknown":["parcel_0","parcel_1","parcel_2","parcel_3"]}},{"caption":"pick up the second from the right of the four parcels on the counter","start":2216,"end":2415,"kind":"take","part":"parcel_0","side":"left","caption_grounding":{"version":2,"start_tick":2216,"caption":"pick up the leftmost back-right parcel on the counter","targets":[{"label":"the leftmost back-right parcel on the counter","location":"counter","position_task":[0.03528999999999848,-0.08485099999999934,0.024946594839257097],"stack":{"below":null,"above":[],"members":["parcel_0"]},"candidate_ids":["parcel_0"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_0","generated_at_tick":2216,"reference_frame":{"name":"task_work_frame","origin_world":[1.6959998981443962,-3.0642499932569778,0.92],"yaw_rad":-1.570796292566348,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[1.6111488993523224,-3.099539996161303,0.9449465948392571],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[1.6959998981443962,-3.0642499932569778,0.92],"yaw_rad":-1.570796292566348,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel is in the hand","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_0","parcel_1","parcel_2","parcel_3"]},"caption_v1":"pick up the leftmost back-right parcel on the counter"},{"caption":"put the parcel in the gripper on the left pan","start":2415,"end":2690,"kind":"place","part":"parcel_0","side":"left","caption_grounding":{"version":2,"start_tick":2415,"caption":"put the parcel in the gripper on the left pan","targets":[{"label":"the parcel in the gripper","location":"hand","position_task":[-0.06882041575142309,-0.14081156641465736,0.2351876271108505],"stack":{"below":null,"above":[],"members":["parcel_0"]},"candidate_ids":["parcel_0"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_0","generated_at_tick":2415,"reference_frame":{"name":"task_work_frame","origin_world":[1.6959998981443962,-3.0642499932569778,0.92],"yaw_rad":-1.570796292566348,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[1.555188329374116,-2.9954295823253303,1.1551876271108505],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[1.6959998981443962,-3.0642499932569778,0.92],"yaw_rad":-1.570796292566348,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel rests on the left pan","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_0","parcel_1","parcel_2","parcel_3"]}},{"caption":"pick up the leftmost of the three parcels on the counter","start":2690,"end":2917,"kind":"take","part":"parcel_1","side":"right","caption_grounding":{"version":2,"start_tick":2690,"caption":"pick up the left parcel on the counter","targets":[{"label":"the left parcel on the counter","location":"counter","position_task":[-0.32483199999999574,-0.09860800000000669,0.024946594839257097],"stack":{"below":null,"above":[],"members":["parcel_1"]},"candidate_ids":["parcel_1"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_1","generated_at_tick":2690,"reference_frame":{"name":"task_work_frame","origin_world":[1.6959998981443962,-3.0642499932569778,0.92],"yaw_rad":-1.570796292566348,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[1.5973918870258617,-2.739417996632191,0.9449465948392571],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[1.6959998981443962,-3.0642499932569778,0.92],"yaw_rad":-1.570796292566348,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel is in the hand","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_0","parcel_1","parcel_2","parcel_3"]},"caption_v1":"pick up the left parcel on the counter"},{"caption":"put the parcel in the gripper on the right pan","start":2917,"end":3217,"kind":"place","part":"parcel_1","side":"right","caption_grounding":{"version":2,"start_tick":2917,"caption":"put the parcel in the gripper on the right pan","targets":[{"label":"the parcel in the gripper","location":"hand","position_task":[-0.44868822109260836,-0.14196791546030477,0.23565314294388562],"stack":{"below":null,"above":[],"members":["parcel_1"]},"candidate_ids":["parcel_1"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_1","generated_at_tick":2917,"reference_frame":{"name":"task_work_frame","origin_world":[1.6959998981443962,-3.0642499932569778,0.92],"yaw_rad":-1.570796292566348,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[1.554031967326145,-2.6155617770237254,1.1556531429438857],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[1.6959998981443962,-3.0642499932569778,0.92],"yaw_rad":-1.570796292566348,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel rests on the right pan","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_0","parcel_1","parcel_2","parcel_3"]}},{"caption":"weigh the parcel on the left pan against the parcel on the right pan","start":3217,"end":3252,"kind":"weigh","parts":["parcel_0","parcel_1"],"side":"both","caption_grounding":{"version":2,"start_tick":3217,"caption":"weigh the parcel on the left pan against the parcel on the right pan","targets":[{"label":"the parcel on the left pan","location":"left_pan","position_task":[-0.4442878221471484,0.08431916272987452,0.08128433708888438],"stack":{"below":null,"above":[],"members":["parcel_0"]},"candidate_ids":["parcel_0"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_0","generated_at_tick":3217,"reference_frame":{"name":"task_work_frame","origin_world":[1.6959998981443962,-3.0642499932569778,0.92],"yaw_rad":-1.570796292566348,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[1.7803190456669433,-2.619962168223707,1.0012843370888844],"stack_contact_pairs":[]},{"label":"the parcel on the right pan","location":"right_pan","position_task":[-0.02959471896909828,0.11757077573094431,0.08092037255861684],"stack":{"below":null,"above":[],"members":["parcel_1"]},"candidate_ids":["parcel_1"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_1","generated_at_tick":3217,"reference_frame":{"name":"task_work_frame","origin_world":[1.6959998981443962,-3.0642499932569778,0.92],"yaw_rad":-1.570796292566348,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[1.8135706728623562,-3.0346552702636025,1.0009203725586169],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[1.6959998981443962,-3.0642499932569778,0.92],"yaw_rad":-1.570796292566348,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"level","beam_deg":0.015,"raw_beam_deg":0.015,"zero_deg":-0.0,"info":{"known_normal":[],"known_odd":[],"unknown":["parcel_2","parcel_3"]}},{"caption":"take the parcel on the right pan off the right pan","start":3252,"end":3516,"kind":"take","part":"parcel_1","side":"right","caption_grounding":{"version":2,"start_tick":3252,"caption":"take the parcel on the right pan off the right pan","targets":[{"label":"the parcel on the right pan","location":"right_pan","position_task":[-0.029645027109196108,0.11756689462870429,0.08088475396104766],"stack":{"below":null,"above":[],"members":["parcel_1"]},"candidate_ids":["parcel_1"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_1","generated_at_tick":3252,"reference_frame":{"name":"task_work_frame","origin_world":[1.6959998981443962,-3.0642499932569778,0.92],"yaw_rad":-1.570796292566348,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[1.8135667917583942,-3.0346049621236375,1.0008847539610477],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[1.6959998981443962,-3.0642499932569778,0.92],"yaw_rad":-1.570796292566348,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the right pan is empty and the parcel is in the hand","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_2","parcel_3"]}},{"caption":"put the parcel in the gripper back on the counter","start":3516,"end":3722,"kind":"place","part":"parcel_1","side":"right","caption_grounding":{"version":2,"start_tick":3516,"caption":"put the parcel in the gripper back on the counter","targets":[{"label":"the parcel in the gripper","location":"hand","position_task":[-0.02630879623281394,-0.06175776441415272,0.23294851126060478],"stack":{"below":null,"above":[],"members":["parcel_1"]},"candidate_ids":["parcel_1"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_1","generated_at_tick":3516,"reference_frame":{"name":"task_work_frame","origin_world":[1.6959998981443962,-3.0642499932569778,0.92],"yaw_rad":-1.570796292566348,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[1.6342421328297316,-3.0379411991380425,1.1529485112606048],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[1.6959998981443962,-3.0642499932569778,0.92],"yaw_rad":-1.570796292566348,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel stands back on the counter","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_2","parcel_3"]}},{"caption":"pick up the rightmost of the three parcels on the counter","start":3722,"end":3913,"kind":"take","part":"parcel_2","side":"right","caption_grounding":{"version":2,"start_tick":3722,"caption":"pick up the back-right parcel on the counter","targets":[{"label":"the back-right parcel on the counter","location":"counter","position_task":[0.18180700971572372,-0.02289912750636034,0.024946594839256986],"stack":{"below":null,"above":[],"members":["parcel_2"]},"candidate_ids":["parcel_2"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_2","generated_at_tick":3722,"reference_frame":{"name":"task_work_frame","origin_world":[1.6959998981443962,-3.0642499932569778,0.92],"yaw_rad":-1.570796292566348,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[1.673100776861026,-3.2460570037565053,0.944946594839257],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[1.6959998981443962,-3.0642499932569778,0.92],"yaw_rad":-1.570796292566348,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel is in the hand","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_2","parcel_3"]},"caption_v1":"pick up the back-right parcel on the counter"},{"caption":"put the parcel in the gripper on the right pan","start":3913,"end":4155,"kind":"place","part":"parcel_2","side":"right","caption_grounding":{"version":2,"start_tick":3913,"caption":"put the parcel in the gripper on the right pan","targets":[{"label":"the parcel in the gripper","location":"hand","position_task":[0.1892030749728036,-0.1496822637650708,0.23393495221195237],"stack":{"below":null,"above":[],"members":["parcel_2"]},"candidate_ids":["parcel_2"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_2","generated_at_tick":3913,"reference_frame":{"name":"task_work_frame","origin_world":[1.6959998981443962,-3.0642499932569778,0.92],"yaw_rad":-1.570796292566348,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[1.5463176408554722,-3.253453073353188,1.1539349522119524],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[1.6959998981443962,-3.0642499932569778,0.92],"yaw_rad":-1.570796292566348,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. 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The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_3","generated_at_tick":30,"reference_frame":{"name":"task_work_frame","origin_world":[2.7029999755216187,-2.51100008410071,0.92],"yaw_rad":3.1415925661670165,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[3.1111429885150894,-2.362372119781705,0.9449465948392571],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[2.7029999755216187,-2.51100008410071,0.92],"yaw_rad":3.1415925661670165,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"every parcel is uncovered and on the counter","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_0","parcel_1","parcel_2","parcel_3"]}},{"caption":"lift the cloche by its knob","start":30,"end":469,"kind":"uncover","skill":"lift_cloche","caption_v2":"lift the cloche cover_parcel_3 by its knob"},{"caption":"pick up the top parcel of the stack on the counter","start":690,"end":881,"kind":"take","part":"parcel_1","source":"stack","caption_grounding":{"version":2,"start_tick":690,"caption":"pick up the upper parcel in the front-right stack on the counter","targets":[{"label":"the upper parcel in the front-right stack on the counter","location":"counter","position_task":[0.2573350496712166,-0.22454405854686868,0.07492987856582989],"stack":{"below":"parcel_2","above":[],"members":["parcel_1","parcel_2"]},"candidate_ids":["parcel_1"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_1","generated_at_tick":690,"reference_frame":{"name":"task_work_frame","origin_world":[2.7029999755216187,-2.51100008410071,0.92],"yaw_rad":3.1415925661670165,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.4456649454806683,-2.2864560030568977,0.9949298785658299],"stack_contact_pairs":[["parcel_1","parcel_2"]]}],"reference_frame":{"name":"task_work_frame","origin_world":[2.7029999755216187,-2.51100008410071,0.92],"yaw_rad":3.1415925661670165,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel is off the stack and in the hand","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_0","parcel_1","parcel_2","parcel_3"]},"caption_v1":"pick up the upper parcel in the front-right stack on the counter"},{"caption":"set the parcel in the gripper down on a clear part of the counter","start":881,"end":1091,"kind":"place","part":"parcel_1","caption_grounding":{"version":2,"start_tick":881,"caption":"set the parcel in the gripper down on a clear part of the counter","targets":[{"label":"the parcel in the gripper","location":"hand","position_task":[0.2446925174347731,-0.35136471523006496,0.23406885081394668],"stack":{"below":null,"above":[],"members":["parcel_1"]},"candidate_ids":["parcel_1"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_1","generated_at_tick":881,"reference_frame":{"name":"task_work_frame","origin_world":[2.7029999755216187,-2.51100008410071,0.92],"yaw_rad":3.1415925661670165,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.4583074888041256,-2.159635347478947,1.1540688508139467],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[2.7029999755216187,-2.51100008410071,0.92],"yaw_rad":3.1415925661670165,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel stands alone on the counter","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_0","parcel_1","parcel_2","parcel_3"]}},{"caption":"drive up to the balance","start":1091,"end":1200,"kind":"drive","parts":["left_pan","right_pan"],"caption_grounding":{"version":2,"start_tick":1091,"caption":"drive up to the balance","targets":[],"reference_frame":{"name":"task_work_frame","origin_world":[2.7029999755216187,-2.51100008410071,0.92],"yaw_rad":3.1415925661670165,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the robot stands at the balance, both pans within reach","reach":{"left_pan":{"ahead":0.549,"lateral":0.012},"right_pan":{"ahead":0.559,"lateral":-0.009}},"info":{"known_normal":[],"known_odd":[],"unknown":["parcel_0","parcel_1","parcel_2","parcel_3"]}},{"caption":"let the empty balance settle and read its resting tilt","start":1200,"end":1225,"kind":"probe","caption_grounding":{"version":2,"start_tick":1200,"caption":"let the empty balance settle and read its resting tilt","targets":[],"reference_frame":{"name":"task_work_frame","origin_world":[2.7029999755216187,-2.51100008410071,0.92],"yaw_rad":3.1415925661670165,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the empty pans hang level","beam_deg":0.0,"info":{"known_normal":[],"known_odd":[],"unknown":["parcel_0","parcel_1","parcel_2","parcel_3"]}},{"caption":"pick up the second from the right of the four parcels on the counter","start":1225,"end":1368,"kind":"take","part":"parcel_0","side":"left","caption_grounding":{"version":2,"start_tick":1225,"caption":"pick up the back-right parcel on the counter","targets":[{"label":"the back-right parcel on the counter","location":"counter","position_task":[-0.026773000065762574,-0.11340299999949548,0.024946594839257097],"stack":{"below":null,"above":[],"members":["parcel_0"]},"candidate_ids":["parcel_0"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. 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The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel is in the hand","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_0","parcel_1","parcel_2","parcel_3"]},"caption_v1":"pick up the back-right parcel on the counter"},{"caption":"put the parcel in the gripper on the left pan","start":1368,"end":1668,"kind":"place","part":"parcel_0","side":"left","caption_grounding":{"version":2,"start_tick":1368,"caption":"put the parcel in the gripper on the left pan","targets":[{"label":"the parcel in the gripper","location":"hand","position_task":[-0.026484702523449297,-0.1167319679486344,0.23478948521725307],"stack":{"below":null,"above":[],"members":["parcel_0"]},"candidate_ids":["parcel_0"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. 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The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_0","generated_at_tick":2118,"reference_frame":{"name":"task_work_frame","origin_world":[2.7029999755216187,-2.51100008410071,0.92],"yaw_rad":3.1415925661670165,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[3.0961990363008987,-2.6372685834479626,0.9802687782056196],"stack_contact_pairs":[]},{"label":"the parcel on the right pan","location":"right_pan","position_task":[0.013439462385251323,0.07911494798510847,0.10123723068764845],"stack":{"below":null,"above":[],"members":["parcel_1"]},"candidate_ids":["parcel_1"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. 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The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel is in the hand","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_2","parcel_3"]},"caption_v1":"pick up the rightmost front-right parcel on the counter"},{"caption":"put the parcel in the gripper on the right pan","start":2738,"end":2968,"kind":"place","part":"parcel_2","side":"right","caption_grounding":{"version":2,"start_tick":2738,"caption":"put the parcel in the gripper on the right pan","targets":[{"label":"the parcel in the gripper","location":"hand","position_task":[0.08803675561841594,-0.3327776308021187,0.23420686465797946],"stack":{"below":null,"above":[],"members":["parcel_2"]},"candidate_ids":["parcel_2"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. 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The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_0","generated_at_tick":226,"reference_frame":{"name":"task_work_frame","origin_world":[2.7029999755216187,-2.51100008410071,0.92],"yaw_rad":3.1415925661670165,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.4540476725420537,-2.3305529847253244,1.154054375931339],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[2.7029999755216187,-2.51100008410071,0.92],"yaw_rad":3.1415925661670165,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. 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The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_5","generated_at_tick":5450,"reference_frame":{"name":"task_work_frame","origin_world":[2.7029999755216187,-2.51100008410071,0.92],"yaw_rad":3.1415925661670165,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[3.186024551273955,-2.1583765162841404,1.1535049972173028],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[2.7029999755216187,-2.51100008410071,0.92],"yaw_rad":3.1415925661670165,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. 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raw/odd_parcel/88463593cae048a6/actions/88463593cae048a6.json ADDED Viewed

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The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"6 parcels on the counter, a balance and an answer box","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_0","parcel_1","parcel_2","parcel_3","parcel_4","parcel_5"]}},{"caption":"clear what hides a parcel and bring every parcel within reach","start":30,"end":2037,"kind":"uncover","parts":["parcel_5","parcel_1"],"mechanisms":["annex","occluder"],"caption_grounding":{"version":2,"start_tick":30,"caption":"clear what hides a parcel and bring every parcel within reach","targets":[{"label":"the front-left parcel on the counter","location":"counter","position_task":[-3.106768028928833,-2.5666457426787423,0.024946594839257097],"stack":{"below":null,"above":[],"members":["parcel_5"]},"candidate_ids":["parcel_5"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. 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The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"every parcel is uncovered and on the counter","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_0","parcel_1","parcel_2","parcel_3","parcel_4","parcel_5"]}},{"caption":"drive to the annex and pick up parcel_5","start":30,"end":516,"kind":"look","skill":"fetch"},{"caption":"carry parcel_5 back to the work frame","start":516,"end":1197,"kind":"look","skill":"fetch"},{"caption":"move the occluder occluder_parcel_1 aside","start":1197,"end":1816,"kind":"look","skill":"move_aside"},{"caption":"drive up to the balance","start":2037,"end":2201,"kind":"drive","parts":["left_pan","right_pan"],"caption_grounding":{"version":2,"start_tick":2037,"caption":"drive up to the balance","targets":[],"reference_frame":{"name":"task_work_frame","origin_world":[4.42902442773632,-3.355159854724631,0.92],"yaw_rad":3.1414093097045184,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. 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Other objects on the counter are not part of the task; you may move them if needed.","task_caption":null,"n_ticks":9422,"changes_v3":[{"old":"drive to the annex and pick up parcel_5","new":["look around for the missing parcel","drive to the annex and pick up the parcel there"],"split_at":110,"reason":"fetched object first visible at this tick"},{"old":"drive to the annex and pick up parcel_5","new":"drive to the annex and pick up the parcel there"},{"old":"carry parcel_5 back to the work frame","new":"carry the parcel back to the other parcels"},{"old":"move the occluder occluder_parcel_1 aside","new":"move the object hiding the parcel aside"}],"segments":[{"caption":"look over the counter","start":0,"end":30,"kind":"look","caption_grounding":{"version":2,"start_tick":0,"caption":"look over the counter (left/right stay fixed from the starting aisle)","targets":[],"reference_frame":{"name":"task_work_frame","origin_world":[4.42902442773632,-3.355159854724631,0.92],"yaw_rad":3.1414093097045184,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"6 parcels on the counter, a balance and an answer box","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_0","parcel_1","parcel_2","parcel_3","parcel_4","parcel_5"]},"caption_v1":"look over the counter (left/right stay fixed from the starting aisle)"},{"caption":"clear what hides a parcel and bring every parcel within reach","start":30,"end":2037,"kind":"uncover","parts":["parcel_5","parcel_1"],"mechanisms":["annex","occluder"],"caption_grounding":{"version":2,"start_tick":30,"caption":"clear what hides a parcel and bring every parcel within reach","targets":[{"label":"the front-left parcel on the counter","location":"counter","position_task":[-3.106768028928833,-2.5666457426787423,0.024946594839257097],"stack":{"below":null,"above":[],"members":["parcel_5"]},"candidate_ids":["parcel_5"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_5","generated_at_tick":30,"reference_frame":{"name":"task_work_frame","origin_world":[4.42902442773632,-3.355159854724631,0.92],"yaw_rad":3.1414093097045184,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[7.536262983248131,-0.7890837621026423,0.9449465948392571],"stack_contact_pairs":[]},{"label":"the rightmost back-right parcel on the counter","location":"counter","position_task":[1.0424020000000003,0.12373499999999998,0.024946594839257097],"stack":{"below":null,"above":[],"members":["parcel_1"]},"candidate_ids":["parcel_1"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_1","generated_at_tick":30,"reference_frame":{"name":"task_work_frame","origin_world":[4.42902442773632,-3.355159854724631,0.92],"yaw_rad":3.1414093097045184,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[3.386599759200964,-3.4787037346133287,0.9449465948392571],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[4.42902442773632,-3.355159854724631,0.92],"yaw_rad":3.1414093097045184,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"every parcel is uncovered and on the counter","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_0","parcel_1","parcel_2","parcel_3","parcel_4","parcel_5"]}},{"caption":"look around for the missing parcel","start":30,"end":110,"kind":"look","skill":"fetch","caption_v2":"drive to the annex and pick up parcel_5","split":"before first sight"},{"caption":"drive to the annex and pick up the parcel there","start":110,"end":516,"kind":"look","skill":"fetch","split":"after first sight","caption_v2":"drive to the annex and pick up parcel_5"},{"caption":"carry the parcel back to the other parcels","start":516,"end":1197,"kind":"look","skill":"fetch","caption_v2":"carry parcel_5 back to the work frame"},{"caption":"move the object hiding the parcel aside","start":1197,"end":1816,"kind":"look","skill":"move_aside","caption_v2":"move the occluder occluder_parcel_1 aside"},{"caption":"drive up to the balance","start":2037,"end":2201,"kind":"drive","parts":["left_pan","right_pan"],"caption_grounding":{"version":2,"start_tick":2037,"caption":"drive up to the balance","targets":[],"reference_frame":{"name":"task_work_frame","origin_world":[4.42902442773632,-3.355159854724631,0.92],"yaw_rad":3.1414093097045184,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the robot stands at the balance, both pans within reach","reach":{"left_pan":{"ahead":0.568,"lateral":0.005},"right_pan":{"ahead":0.563,"lateral":-0.043}},"info":{"known_normal":[],"known_odd":[],"unknown":["parcel_0","parcel_1","parcel_2","parcel_3","parcel_4","parcel_5"]}},{"caption":"let the empty balance settle and read its resting tilt","start":2201,"end":2226,"kind":"probe","caption_grounding":{"version":2,"start_tick":2201,"caption":"let the empty balance settle and read its resting tilt","targets":[],"reference_frame":{"name":"task_work_frame","origin_world":[4.42902442773632,-3.355159854724631,0.92],"yaw_rad":3.1414093097045184,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the empty pans hang level","beam_deg":-0.0,"info":{"known_normal":[],"known_odd":[],"unknown":["parcel_0","parcel_1","parcel_2","parcel_3","parcel_4","parcel_5"]}},{"caption":"pick up the leftmost of the five parcels on the counter","start":2226,"end":2445,"kind":"take","part":"parcel_0","side":"left","caption_grounding":{"version":2,"start_tick":2226,"caption":"pick up the leftmost front-left parcel on the counter","targets":[{"label":"the leftmost front-left parcel on the counter","location":"counter","position_task":[-0.5159329999999999,-0.11724199999999979,0.024946594839257097],"stack":{"below":null,"above":[],"members":["parcel_0"]},"candidate_ids":["parcel_0"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_0","generated_at_tick":2226,"reference_frame":{"name":"task_work_frame","origin_world":[4.42902442773632,-3.355159854724631,0.92],"yaw_rad":3.1414093097045184,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[4.944978914668458,-3.2380124498554066,0.9449465948392571],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[4.42902442773632,-3.355159854724631,0.92],"yaw_rad":3.1414093097045184,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel is in the hand","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_0","parcel_1","parcel_2","parcel_3","parcel_4","parcel_5"]},"caption_v1":"pick up the leftmost front-left parcel on the counter"},{"caption":"put the parcel in the gripper on the left pan","start":2445,"end":2711,"kind":"place","part":"parcel_0","side":"left","caption_grounding":{"version":2,"start_tick":2445,"caption":"put the parcel in the gripper on the left pan","targets":[{"label":"the parcel in the gripper","location":"hand","position_task":[-0.496020362945409,-0.24170341735508852,0.23381952639134818],"stack":{"below":null,"above":[],"members":["parcel_0"]},"candidate_ids":["parcel_0"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. 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The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel rests on the left pan","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_0","parcel_1","parcel_2","parcel_3","parcel_4","parcel_5"]}},{"caption":"pick up the rightmost of the five parcels on the counter","start":2711,"end":3037,"kind":"take","part":"parcel_1","side":"right","caption_grounding":{"version":2,"start_tick":2711,"caption":"pick up the back-right parcel on the counter","targets":[{"label":"the back-right parcel on the counter","location":"counter","position_task":[1.0424020000000003,0.12373499999999998,0.024946594839257097],"stack":{"below":null,"above":[],"members":["parcel_1"]},"candidate_ids":["parcel_1"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. 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The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel is in the hand","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_0","parcel_1","parcel_2","parcel_3","parcel_4","parcel_5"]},"caption_v1":"pick up the back-right parcel on the counter"},{"caption":"put the parcel in the gripper on the right pan","start":3037,"end":3382,"kind":"place","part":"parcel_1","side":"right","caption_grounding":{"version":2,"start_tick":3037,"caption":"put the parcel in the gripper on the right pan","targets":[{"label":"the parcel in the gripper","location":"hand","position_task":[1.048546281143506,-0.10491854352346555,0.23137710228357478],"stack":{"below":null,"above":[],"members":["parcel_1"]},"candidate_ids":["parcel_1"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. 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The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel rests on the right pan","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_0","parcel_1","parcel_2","parcel_3","parcel_4","parcel_5"]}},{"caption":"weigh the parcel on the left pan against the parcel on the right pan","start":3382,"end":3417,"kind":"weigh","parts":["parcel_0","parcel_1"],"side":"both","caption_grounding":{"version":2,"start_tick":3382,"caption":"weigh the parcel on the left pan against the parcel on the right pan","targets":[{"label":"the parcel on the left pan","location":"left_pan","position_task":[-0.43071587865885147,0.12496262632913147,0.08112112220653744],"stack":{"below":null,"above":[],"members":["parcel_0"]},"candidate_ids":["parcel_0"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. 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The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"level","beam_deg":0.001,"raw_beam_deg":0.001,"zero_deg":-0.0,"info":{"known_normal":[],"known_odd":[],"unknown":["parcel_2","parcel_3","parcel_4","parcel_5"]}},{"caption":"take the parcel on the right pan off the right pan","start":3417,"end":3691,"kind":"take","part":"parcel_1","side":"right","caption_grounding":{"version":2,"start_tick":3417,"caption":"take the parcel on the right pan off the right pan","targets":[{"label":"the parcel on the right pan","location":"right_pan","position_task":[-0.015226161545122139,0.1300461743510661,0.0812222946105442],"stack":{"below":null,"above":[],"members":["parcel_1"]},"candidate_ids":["parcel_1"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_1","generated_at_tick":3417,"reference_frame":{"name":"task_work_frame","origin_world":[4.42902442773632,-3.355159854724631,0.92],"yaw_rad":3.1414093097045184,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[4.444226745854792,-3.4852088185135472,1.0012222946105442],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[4.42902442773632,-3.355159854724631,0.92],"yaw_rad":3.1414093097045184,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the right pan is empty and the parcel is in the hand","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_2","parcel_3","parcel_4","parcel_5"]}},{"caption":"put the parcel in the gripper back on the counter","start":3691,"end":3909,"kind":"place","part":"parcel_1","side":"right","caption_grounding":{"version":2,"start_tick":3691,"caption":"put the parcel in the gripper back on the counter","targets":[{"label":"the parcel in the gripper","location":"hand","position_task":[-0.014516700092594795,-0.07584261020724099,0.2324350734529036],"stack":{"below":null,"above":[],"members":["parcel_1"]},"candidate_ids":["parcel_1"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. 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The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel stands back on the counter","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_2","parcel_3","parcel_4","parcel_5"]}},{"caption":"pick up the second from the left of the five parcels on the counter","start":3909,"end":4109,"kind":"take","part":"parcel_2","side":"right","caption_grounding":{"version":2,"start_tick":3909,"caption":"pick up the rightmost front-left parcel on the counter","targets":[{"label":"the rightmost front-left parcel on the counter","location":"counter","position_task":[-0.22959000000000024,-0.17123499999999992,0.024946594839257097],"stack":{"below":null,"above":[],"members":["parcel_2"]},"candidate_ids":["parcel_2"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. 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The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel is in the hand","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_2","parcel_3","parcel_4","parcel_5"]},"caption_v1":"pick up the rightmost front-left parcel on the counter"},{"caption":"put the parcel in the gripper on the right pan","start":4109,"end":4405,"kind":"place","part":"parcel_2","side":"right","caption_grounding":{"version":2,"start_tick":4109,"caption":"put the parcel in the gripper on the right pan","targets":[{"label":"the parcel in the gripper","location":"hand","position_task":[-0.3861146502954878,-0.3035920318322927,0.2332894633173378],"stack":{"below":null,"above":[],"members":["parcel_2"]},"candidate_ids":["parcel_2"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_2","generated_at_tick":4109,"reference_frame":{"name":"task_work_frame","origin_world":[4.42902442773632,-3.355159854724631,0.92],"yaw_rad":3.1414093097045184,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[4.815194733284533,-3.0516386197547085,1.1532894633173378],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[4.42902442773632,-3.355159854724631,0.92],"yaw_rad":3.1414093097045184,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. 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The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"4 parcels on the counter, a balance and an answer box","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_0","parcel_1","parcel_2","parcel_3"]},"caption_v1":"look over the counter (left/right stay fixed from the starting aisle)"},{"caption":"pick up the top parcel of the stack on the counter","start":30,"end":228,"kind":"take","part":"parcel_0","source":"stack","caption_grounding":{"version":2,"start_tick":30,"caption":"pick up the upper parcel in the right stack on the counter","targets":[{"label":"the upper parcel in the right stack on the counter","location":"counter","position_task":[0.12108340826539182,-0.20051007709488053,0.07491293880843708],"stack":{"below":"parcel_2","above":[],"members":["parcel_0","parcel_2"]},"candidate_ids":["parcel_0"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_0","generated_at_tick":30,"reference_frame":{"name":"task_work_frame","origin_world":[1.8162928529026705,-3.8476386702296823,0.92],"yaw_rad":1.5704906209053502,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.0168399365385636,-3.726616564732808,0.9949129388084371],"stack_contact_pairs":[["parcel_0","parcel_2"]]}],"reference_frame":{"name":"task_work_frame","origin_world":[1.8162928529026705,-3.8476386702296823,0.92],"yaw_rad":1.5704906209053502,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel is off the stack and in the hand","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_0","parcel_1","parcel_2","parcel_3"]},"caption_v1":"pick up the upper parcel in the right stack on the counter"},{"caption":"set the parcel in the gripper down on a clear part of the counter","start":228,"end":406,"kind":"place","part":"parcel_0","caption_grounding":{"version":2,"start_tick":228,"caption":"set the parcel in the gripper down on a clear part of the counter","targets":[{"label":"the parcel in the gripper","location":"hand","position_task":[0.11599030802000942,-0.33036632515279296,0.2345952686798779],"stack":{"below":null,"above":[],"members":["parcel_0"]},"candidate_ids":["parcel_0"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_0","generated_at_tick":228,"reference_frame":{"name":"task_work_frame","origin_world":[1.8162928529026705,-3.8476386702296823,0.92],"yaw_rad":1.5704906209053502,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.1466946215378306,-3.731749362559407,1.154595268679878],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[1.8162928529026705,-3.8476386702296823,0.92],"yaw_rad":1.5704906209053502,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel stands alone on the counter","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_0","parcel_1","parcel_2","parcel_3"]}},{"caption":"drive up to the balance","start":406,"end":503,"kind":"drive","parts":["left_pan","right_pan"],"caption_grounding":{"version":2,"start_tick":406,"caption":"drive up to the balance","targets":[],"reference_frame":{"name":"task_work_frame","origin_world":[1.8162928529026705,-3.8476386702296823,0.92],"yaw_rad":1.5704906209053502,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the robot stands at the balance, both pans within reach","reach":{"left_pan":{"ahead":0.541,"lateral":0.01},"right_pan":{"ahead":0.584,"lateral":-0.007}},"info":{"known_normal":[],"known_odd":[],"unknown":["parcel_0","parcel_1","parcel_2","parcel_3"]}},{"caption":"let the empty balance settle and read its resting tilt","start":503,"end":528,"kind":"probe","caption_grounding":{"version":2,"start_tick":503,"caption":"let the empty balance settle and read its resting tilt","targets":[],"reference_frame":{"name":"task_work_frame","origin_world":[1.8162928529026705,-3.8476386702296823,0.92],"yaw_rad":1.5704906209053502,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the empty pans hang level","beam_deg":-0.0,"info":{"known_normal":[],"known_odd":[],"unknown":["parcel_0","parcel_1","parcel_2","parcel_3"]}},{"caption":"pick up the second from the right of the four parcels on the counter","start":528,"end":722,"kind":"take","part":"parcel_0","side":"left","caption_grounding":{"version":2,"start_tick":528,"caption":"pick up the leftmost right parcel on the counter","targets":[{"label":"the leftmost right parcel on the counter","location":"counter","position_task":[-0.04420801701964726,-0.20329135401433993,0.024946594839257097],"stack":{"below":null,"above":[],"members":["parcel_0"]},"candidate_ids":["parcel_0"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_0","generated_at_tick":528,"reference_frame":{"name":"task_work_frame","origin_world":[1.8162928529026705,-3.8476386702296823,0.92],"yaw_rad":1.5704906209053502,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.0195706827666453,-3.8919088325468234,0.9449465948392571],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[1.8162928529026705,-3.8476386702296823,0.92],"yaw_rad":1.5704906209053502,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel is in the hand","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_0","parcel_1","parcel_2","parcel_3"]},"caption_v1":"pick up the leftmost right parcel on the counter"},{"caption":"put the parcel in the gripper on the left pan","start":722,"end":937,"kind":"place","part":"parcel_0","side":"left","caption_grounding":{"version":2,"start_tick":722,"caption":"put the parcel in the gripper on the left pan","targets":[{"label":"the parcel in the gripper","location":"hand","position_task":[-0.039781256947764035,-0.32824643934966513,0.2339766327056797],"stack":{"below":null,"above":[],"members":["parcel_0"]},"candidate_ids":["parcel_0"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. 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The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel rests on the left pan","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_0","parcel_1","parcel_2","parcel_3"]}},{"caption":"pick up the leftmost of the three parcels on the counter","start":937,"end":1126,"kind":"take","part":"parcel_1","side":"right","caption_grounding":{"version":2,"start_tick":937,"caption":"pick up the back-left parcel on the counter","targets":[{"label":"the back-left parcel on the counter","location":"counter","position_task":[-0.4532950000000003,-0.15942200000000004,0.024946594839257097],"stack":{"below":null,"above":[],"members":["parcel_1"]},"candidate_ids":["parcel_1"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. 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The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel is in the hand","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_0","parcel_1","parcel_2","parcel_3"]},"caption_v1":"pick up the back-left parcel on the counter"},{"caption":"put the parcel in the gripper on the right pan","start":1126,"end":1385,"kind":"place","part":"parcel_1","side":"right","caption_grounding":{"version":2,"start_tick":1126,"caption":"put the parcel in the gripper on the right pan","targets":[{"label":"the parcel in the gripper","location":"hand","position_task":[-0.46250338457349754,-0.28594558546170173,0.2340362162522217],"stack":{"below":null,"above":[],"members":["parcel_1"]},"candidate_ids":["parcel_1"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. 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The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_0","generated_at_tick":1385,"reference_frame":{"name":"task_work_frame","origin_world":[1.8162928529026705,-3.8476386702296823,0.92],"yaw_rad":1.5704906209053502,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[1.7586506410907587,-4.291967333899469,1.0007171480679098],"stack_contact_pairs":[]},{"label":"the parcel on the right pan","location":"right_pan","position_task":[-0.03060189228470201,0.11302636699247837,0.0810879172966662],"stack":{"below":null,"above":[],"members":["parcel_1"]},"candidate_ids":["parcel_1"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. 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The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"level","beam_deg":0.003,"raw_beam_deg":0.003,"zero_deg":-0.0,"info":{"known_normal":[],"known_odd":[],"unknown":["parcel_2","parcel_3"]}},{"caption":"take the parcel on the right pan off the right pan","start":1420,"end":1660,"kind":"take","part":"parcel_1","side":"right","caption_grounding":{"version":2,"start_tick":1420,"caption":"take the parcel on the right pan off the right pan","targets":[{"label":"the parcel on the right pan","location":"right_pan","position_task":[-0.030690346732359458,0.11301460030079641,0.08103048896082632],"stack":{"below":null,"above":[],"members":["parcel_1"]},"candidate_ids":["parcel_1"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. 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The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the right pan is empty and the parcel is in the hand","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_2","parcel_3"]}},{"caption":"put the parcel in the gripper back on the counter","start":1660,"end":1845,"kind":"place","part":"parcel_1","side":"right","caption_grounding":{"version":2,"start_tick":1660,"caption":"put the parcel in the gripper back on the counter","targets":[{"label":"the parcel in the gripper","location":"hand","position_task":[-0.02084182786162418,-0.12772162706918125,0.22953861681951204],"stack":{"below":null,"above":[],"members":["parcel_1"]},"candidate_ids":["parcel_1"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_1","generated_at_tick":1660,"reference_frame":{"name":"task_work_frame","origin_world":[1.8162928529026705,-3.8476386702296823,0.92],"yaw_rad":1.5704906209053502,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[1.9440081025342428,-3.868519542370418,1.149538616819512],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[1.8162928529026705,-3.8476386702296823,0.92],"yaw_rad":1.5704906209053502,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel stands back on the counter","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_2","parcel_3"]}},{"caption":"pick up the nearer of the two parcels at the right end on the counter","start":1845,"end":2042,"kind":"take","part":"parcel_2","side":"right","caption_grounding":{"version":2,"start_tick":1845,"caption":"pick up the front-right parcel on the counter","targets":[{"label":"the front-right parcel on the counter","location":"counter","position_task":[0.1226558392961888,-0.19606698747367493,0.024946594839257097],"stack":{"below":null,"above":[],"members":["parcel_2"]},"candidate_ids":["parcel_2"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_2","generated_at_tick":1845,"reference_frame":{"name":"task_work_frame","origin_world":[1.8162928529026705,-3.8476386702296823,0.92],"yaw_rad":1.5704906209053502,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.0123973278263945,-3.725042775496844,0.9449465948392571],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[1.8162928529026705,-3.8476386702296823,0.92],"yaw_rad":1.5704906209053502,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel is in the hand","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_2","parcel_3"]},"caption_v1":"pick up the front-right parcel on the counter"},{"caption":"put the parcel in the gripper on the right pan","start":2042,"end":2290,"kind":"place","part":"parcel_2","side":"right","caption_grounding":{"version":2,"start_tick":2042,"caption":"put the parcel in the gripper on the right pan","targets":[{"label":"the parcel in the gripper","location":"hand","position_task":[0.12470737354128159,-0.32259073409678435,0.23227005891351948],"stack":{"below":null,"above":[],"members":["parcel_2"]},"candidate_ids":["parcel_2"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_2","generated_at_tick":2042,"reference_frame":{"name":"task_work_frame","origin_world":[1.8162928529026705,-3.8476386702296823,0.92],"yaw_rad":1.5704906209053502,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.138921695703388,-3.723029920401523,1.1522700589135195],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[1.8162928529026705,-3.8476386702296823,0.92],"yaw_rad":1.5704906209053502,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. 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The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"right pan down","beam_deg":10.848,"raw_beam_deg":10.848,"zero_deg":-0.0,"info":{"known_normal":[],"known_odd":[],"unknown":["parcel_3"]}},{"caption":"take the parcel on the right pan off the right pan","start":2325,"end":2591,"kind":"take","part":"parcel_2","side":"right","caption_grounding":{"version":2,"start_tick":2325,"caption":"take the parcel on the right pan off the right pan","targets":[{"label":"the parcel on the right pan","location":"right_pan","position_task":[-0.04226401893521879,0.10623855928401037,0.04713680343977966],"stack":{"below":null,"above":[],"members":["parcel_2"]},"candidate_ids":["parcel_2"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. 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The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"every parcel is uncovered and on the counter","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_0","parcel_1","parcel_2","parcel_3"]}},{"caption":"move the object hiding the parcel aside","start":30,"end":489,"kind":"look","skill":"move_aside","caption_v2":"move the occluder occluder_parcel_0 aside"},{"caption":"drive up to the balance","start":703,"end":865,"kind":"drive","parts":["left_pan","right_pan"],"caption_grounding":{"version":2,"start_tick":703,"caption":"drive up to the balance","targets":[],"reference_frame":{"name":"task_work_frame","origin_world":[0.27900027603247224,-3.6830001208783236,0.92],"yaw_rad":1.5707961239789638,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. 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The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel is off the stack and in the hand","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_0","parcel_1","parcel_2","parcel_3","parcel_4","parcel_5","parcel_6","parcel_7"]}},{"caption":"set the parcel in the gripper down on a clear part of the counter","start":227,"end":410,"kind":"place","part":"parcel_3","caption_grounding":{"version":2,"start_tick":227,"caption":"set the parcel in the gripper down on a clear part of the counter","targets":[{"label":"the parcel in the gripper","location":"hand","position_task":[-0.35889150776070056,-0.18691575824270673,0.23427957137857958],"stack":{"below":null,"above":[],"members":["parcel_3"]},"candidate_ids":["parcel_3"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_3","generated_at_tick":227,"reference_frame":{"name":"task_work_frame","origin_world":[1.8162928529026705,-3.8476386702296823,0.92],"yaw_rad":1.5704906209053502,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.0030988871652475,-4.206587302467338,1.1542795713785796],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[1.8162928529026705,-3.8476386702296823,0.92],"yaw_rad":1.5704906209053502,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel stands alone on the counter","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_0","parcel_1","parcel_2","parcel_3","parcel_4","parcel_5","parcel_6","parcel_7"]}},{"caption":"drive up to the balance","start":410,"end":541,"kind":"drive","parts":["left_pan","right_pan"],"caption_grounding":{"version":2,"start_tick":410,"caption":"drive up to the balance","targets":[],"reference_frame":{"name":"task_work_frame","origin_world":[1.8162928529026705,-3.8476386702296823,0.92],"yaw_rad":1.5704906209053502,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. 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The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the empty pans hang level","beam_deg":0.0,"info":{"known_normal":[],"known_odd":[],"unknown":["parcel_0","parcel_1","parcel_2","parcel_3","parcel_4","parcel_5","parcel_6","parcel_7"]}},{"caption":"pick up the back-right parcel on the counter","start":566,"end":757,"kind":"take","part":"parcel_0","side":"left","caption_grounding":{"version":2,"start_tick":566,"caption":"pick up the back-right parcel on the counter","targets":[{"label":"the back-right parcel on the counter","location":"counter","position_task":[0.1507190000000002,-0.09236800000000008,0.024946594839257097],"stack":{"below":null,"above":[],"members":["parcel_0"]},"candidate_ids":["parcel_0"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. 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The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel is in the hand","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_0","parcel_1","parcel_2","parcel_3","parcel_4","parcel_5","parcel_6","parcel_7"]}},{"caption":"put the parcel in the gripper on the left pan","start":757,"end":1049,"kind":"place","part":"parcel_0","side":"left","caption_grounding":{"version":2,"start_tick":757,"caption":"put the parcel in the gripper on the left pan","targets":[{"label":"the parcel in the gripper","location":"hand","position_task":[-0.012479912511257258,-0.14856113601966003,0.23553922763721513],"stack":{"below":null,"above":[],"members":["parcel_0"]},"candidate_ids":["parcel_0"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. 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The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_1","generated_at_tick":1049,"reference_frame":{"name":"task_work_frame","origin_world":[1.8162928529026705,-3.8476386702296823,0.92],"yaw_rad":1.5704906209053502,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.040587497734199,-4.251182257279329,0.9449465948392571],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[1.8162928529026705,-3.8476386702296823,0.92],"yaw_rad":1.5704906209053502,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel is in the hand","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_0","parcel_1","parcel_2","parcel_3","parcel_4","parcel_5","parcel_6","parcel_7"]}},{"caption":"put the parcel in the gripper on the right pan","start":1267,"end":1531,"kind":"place","part":"parcel_1","side":"right","caption_grounding":{"version":2,"start_tick":1267,"caption":"put the parcel in the gripper on the right pan","targets":[{"label":"the parcel in the gripper","location":"hand","position_task":[-0.4114953871933726,-0.3565809504570218,0.23209827779590586],"stack":{"below":null,"above":[],"members":["parcel_1"]},"candidate_ids":["parcel_1"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. 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The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_0","generated_at_tick":1531,"reference_frame":{"name":"task_work_frame","origin_world":[1.8162928529026705,-3.8476386702296823,0.92],"yaw_rad":1.5704906209053502,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[1.689569101952305,-4.234662008524437,1.0346812406114343],"stack_contact_pairs":[]},{"label":"the parcel on the right pan","location":"right_pan","position_task":[0.012406270501035654,0.08823942328480143,0.04720450820169664],"stack":{"below":null,"above":[],"members":["parcel_1"]},"candidate_ids":["parcel_1"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. 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The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"right pan down","beam_deg":10.84,"raw_beam_deg":10.84,"zero_deg":0.0,"info":{"known_normal":[],"known_odd":[],"unknown":["parcel_2","parcel_3","parcel_4","parcel_5","parcel_6","parcel_7"]}},{"caption":"take the parcel on the right pan off the right pan","start":1566,"end":1841,"kind":"take","part":"parcel_1","side":"right","caption_grounding":{"version":2,"start_tick":1566,"caption":"take the parcel on the right pan off the right pan","targets":[{"label":"the parcel on the right pan","location":"right_pan","position_task":[0.011970566154944375,0.08827609867536293,0.046998310669846055],"stack":{"below":null,"above":[],"members":["parcel_1"]},"candidate_ids":["parcel_1"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. 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The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the right pan is empty and the parcel is in the hand","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_2","parcel_3","parcel_4","parcel_5","parcel_6","parcel_7"]}},{"caption":"put the parcel in the gripper back on the counter","start":1841,"end":2064,"kind":"place","part":"parcel_1","side":"right","caption_grounding":{"version":2,"start_tick":1841,"caption":"put the parcel in the gripper back on the counter","targets":[{"label":"the parcel in the gripper","location":"hand","position_task":[0.013538605017218609,-0.12911327632092057,0.22663922474521747],"stack":{"below":null,"above":[],"members":["parcel_1"]},"candidate_ids":["parcel_1"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. 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