{
  "task": "spray_graffiti",
  "style": 25000,
  "scene_seed": 5000,
  "native_success": true,
  "accepted": true,
  "error": null,
  "steps": 476,
  "recorded": true,
  "first_success_tick": 380,
  "post_success_error": null,
  "command_hash": "b628380fd6bb87352e893f145ffc4d2663346e31a8e1f342d170787119962399",
  "params": {
    "version": "task_controllers_lerobot_v4",
    "robot": "floating+sharpa_fardexbot",
    "task": "spray_graffiti",
    "scene_seed": 5000,
    "style": 25000,
    "hesitation": {
      "enabled": false,
      "probability": 0.0,
      "phase": null,
      "center": 0.5084855681591154,
      "width": 0.03755904818837737,
      "minimum_speed_fraction": 0.0677862310607878
    },
    "probe": false,
    "variation_scale": 1.0,
    "gp_wobble": false,
    "camera_resolution": [
      224,
      224
    ],
    "initial_offset_xyz_m": [
      0.02060066239175759,
      0.008022326661902189,
      -0.03693277134789034
    ],
    "initial_wrist_xyz_deg": [
      -11.687765786250793,
      -5.307953052406839,
      -2.272701939897292
    ],
    "initial_position": [
      0.3976006507873535,
      0.008022326976060867,
      0.4833672046661377
    ],
    "initial_fingers": [
      0.4781806170940399,
      0.2792742848396301,
      0.3061935603618622,
      0.3726874887943268,
      0.0,
      -0.1527356654405594,
      0.04154639318585396,
      0.009576448239386082,
      -0.029122281819581985,
      0.2788854241371155,
      0.30799269676208496,
      0.26703670620918274,
      0.2846015989780426,
      0.36718305945396423,
      -0.0367099866271019,
      0.04773679003119469,
      0.19155704975128174,
      0.2246069759130478,
      0.15442200005054474,
      0.30990201234817505,
      0.19221104681491852,
      0.1977139115333557
    ],
    "staged_start": false,
    "motion_version": "task_controllers_lerobot_v4",
    "behavior_reference": {
      "person_position": [
        0.0,
        0.0,
        0.0
      ],
      "forward_axis": [
        1.0,
        0.0,
        0.0
      ],
      "hand": "right",
      "safe_opening_palm_preference": [
        -1.0,
        0.0,
        0.0
      ],
      "arm_model": false
    },
    "dart": {
      "pos_m": 0.015,
      "rot_deg": 4.0,
      "finger_rad": 0.0,
      "tau_s": 0.6,
      "phase_scale": [
        1.0,
        0.5,
        0.25
      ],
      "quiet_stages": [
        "Align nozzle with measured canvas hit",
        "Align index pad with the actual button"
      ],
      "ramp_m": [
        0.14,
        0.24
      ],
      "process": "ornstein-uhlenbeck, stationary start",
      "label": "clean command"
    },
    "controller_version": "one_wall_wrap_grasp_direct_reach_open_hand_v11",
    "rng_entropy": [
      25000,
      90371
    ],
    "family": "rising_diagonal",
    "grasp_yaw_deg": 20.0,
    "grasp_sampler": "one",
    "stage_variation": {
      "spray can approach": {
        "family": 5,
        "route": "shallow right",
        "bend_m": [
          0.0,
          -0.0,
          -0.0
        ],
        "crossing_m": [
          -0.0,
          0.0,
          -0.0
        ],
        "wrist_excursion_deg": [
          0.0,
          0.0,
          -0.0
        ],
        "fade_end": 0.7,
        "position_gp_amplitude_m": [
          0.0,
          0.0,
          0.0
        ],
        "rotation_gp_amplitude_deg": [
          0.0,
          0.0,
          0.0
        ],
        "gp_length_scale": 0.32038424840767704
      },
      "spray can carry": {
        "family": 7,
        "route": "broad rear arc",
        "bend_m": [
          -0.0,
          0.0,
          0.0
        ],
        "crossing_m": [
          0.0,
          0.0,
          0.0
        ],
        "wrist_excursion_deg": [
          0.0,
          -0.0,
          0.0
        ],
        "fade_end": 0.9,
        "position_gp_amplitude_m": [
          0.0,
          0.0,
          0.0
        ],
        "rotation_gp_amplitude_deg": [
          0.0,
          0.0,
          0.0
        ],
        "gp_length_scale": 0.33874909509130474
      }
    },
    "approach_preflight": [
      {
        "lift_m": 0.0,
        "backoff_m": 0.0,
        "entry_fraction": 0.6576754915861196,
        "chord_blend": 0.6,
        "minimum_can_clearance_m": 0.008479983874422836,
        "violations": 0,
        "first": []
      }
    ],
    "fitted_contact_joint_pose": [
      1.437734803174474,
      -0.133327,
      1.11213924802397,
      1.0269561330918282,
      6.2005458716974955e-21,
      -0.34909999999999997,
      -0.287818,
      0.25109224451489864,
      0.24603967715017167,
      1.0254540659146945,
      0.49668544180957597,
      1.354326,
      0.6498451152684154,
      0.8631123692287905,
      0.18281468455820357,
      -0.34909999999999997,
      0.896823,
      0.7917309406049852,
      0.7652758380928785,
      0.9468627190573209,
      1.2773599730751388,
      0.8655661963760802
    ],
    "final_joint_targets": [
      1.538642998504497,
      -0.143851,
      1.2599847132759547,
      1.1917163117682699,
      4.067322406552197e-08,
      -0.34909999999999997,
      -0.298462,
      0.3058019709996914,
      0.2751794951604767,
      1.1305228026891718,
      0.5819035724617448,
      1.362696,
      0.9331743128036019,
      1.3119303035258225,
      0.2156392587455011,
      -0.34909999999999997,
      0.900288,
      0.9475281398434501,
      1.0033039711588287,
      1.2851846310457125,
      1.241816001225237,
      1.028657728894524
    ],
    "contact_reference": "offline wall-wrap refit of CONTACT_REFERENCE (runs/spray_one_grasp_20260926/fit_grasp2.py): hand 14 mm lower on the can, middle/ring/pinky/thumb pads on the cylinder wall (z 0.031/0.012/-0.006/0.026), index hover unchanged",
    "calibrated_contact_seed": 3002,
    "wrist_clearance_refit_m": 0.0015861562634272384,
    "wrist_clearance_roll_deg": 4.0,
    "minimum_full_hand_z_m": -0.0020000000000000018,
    "clearance_pad_error_m": {
      "thumb": 1.355883271783742e-06,
      "thumb_command": 1.0957140242445556e-06,
      "middle": 1.525730020782737e-07,
      "middle_command": 1.324219120389109e-07,
      "ring": 1.393849759181746e-07,
      "ring_command": 2.0092185528596646e-07,
      "pinky": 1.5575741828334673e-07,
      "pinky_command": 2.411872051103593e-07
    },
    "wrist_command_bias_local_m": [
      0.0006420715690471404,
      -0.008113264329625171,
      -0.003781919680345558
    ],
    "wrist_command_bias_rotation_xyzw": [
      0.006396948820141489,
      0.001634695749814688,
      0.0045641579210990435,
      0.9999677871202
    ],
    "initial_joint_targets": [
      0.5181806087493896,
      0.31927427649497986,
      0.3461935520172119,
      0.4126874804496765,
      0.03999999910593033,
      -0.1527356654405594,
      0.04154639318585396,
      0.009576448239386082,
      -0.029122281819581985,
      0.3188854157924652,
      0.3479926884174347,
      0.30703669786453247,
      0.32460159063339233,
      0.40718305110931396,
      -0.0367099866271019,
      0.04773679003119469,
      0.2155570536851883,
      0.24860697984695435,
      0.1784220039844513,
      0.3499020040035248,
      0.23221105337142944,
      0.22171391546726227
    ],
    "preshape_joint_targets": [
      0.949999988079071,
      0.11174599826335907,
      0.20159755647182465,
      0.19067460298538208,
      6.507715699655137e-09,
      -0.1527356654405594,
      0.04154639318585396,
      0.30580195784568787,
      0.27517950534820557,
      0.18088364601135254,
      0.12179744243621826,
      0.10746284574270248,
      0.14930789172649384,
      0.2099088430404663,
      0.21563926339149475,
      0.04773679003119469,
      0.07544496655464172,
      0.15160450339317322,
      0.16052863001823425,
      0.20562954246997833,
      0.0812738686800003,
      0.16458523273468018
    ],
    "digit_close_delays": [
      -0.010000000000000002,
      -0.010000000000000002,
      -0.010000000000000002,
      -0.010000000000000002,
      -0.010000000000000002
    ],
    "digit_close_durations": [
      0.3,
      0.3,
      0.3,
      0.3,
      0.3
    ],
    "close_start": 0.565,
    "shape_distance_m": 0.245,
    "close_distance_m": 0.046,
    "finger_gp_length_scale": 0.385,
    "initial_wrist_angles_deg": [
      -11.687765786250793,
      -5.307953052406839,
      -2.272701939897292
    ],
    "initial_rotation_xyzw": [
      -0.0606568350303512,
      0.6686138582457509,
      -0.08186116377656796,
      0.7365969093004516
    ],
    "rotation_near_m": 0.05624805214015611,
    "rotation_far_m": 0.30524911080827316,
    "rotation_distance_blend": 0.7151176161266011,
    "rotation_window": [
      0.27233497349105507,
      0.6539723859384498
    ],
    "reach_n": 122,
    "separate_vertical_lift": false,
    "pregrasp_position": [
      0.1939341032446586,
      -0.23287083303774042,
      0.0531272765931404
    ],
    "reach_fraction": 0.6576754915861196,
    "reach_position_gp_length_scale": 0.31856614024616714,
    "reach_rotation_gp_length_scale": 0.22077275735717816,
    "paint_path": {
      "scan_axis": "horizontal",
      "points": [
        [
          0.5599085450172424,
          0.016902061283588413,
          -0.004499999888241291
        ],
        [
          0.5615491700172425,
          0.016902061283588413,
          -0.004499999888241291
        ],
        [
          0.5640101075172425,
          0.016902061283588413,
          -0.004499999888241291
        ],
        [
          0.6107679200172424,
          -0.011715126216411603,
          -0.004499999888241291
        ],
        [
          0.5615491700172425,
          -0.011715126216411603,
          -0.004499999888241291
        ],
        [
          0.5131507325172424,
          -0.011715126216411603,
          -0.004499999888241291
        ],
        [
          0.5057679200172425,
          -0.040332313716411605,
          -0.004499999888241291
        ],
        [
          0.5615491700172425,
          -0.040332313716411605,
          -0.004499999888241291
        ],
        [
          0.6181507325172424,
          -0.040332313716411605,
          -0.004499999888241291
        ],
        [
          0.6107679200172424,
          -0.0681760637164116,
          -0.004499999888241291
        ],
        [
          0.5615491700172425,
          -0.0681760637164116,
          -0.004499999888241291
        ],
        [
          0.5131507325172424,
          -0.0681760637164116,
          -0.004499999888241291
        ],
        [
          0.5599085450172424,
          -0.09679325121641158,
          -0.004499999888241291
        ],
        [
          0.5615491700172425,
          -0.09679325121641158,
          -0.004499999888241291
        ],
        [
          0.5640101075172425,
          -0.09679325121641158,
          -0.004499999888241291
        ]
      ],
      "rows": 5,
      "route_length_m": 0.48382047072880185,
      "inside_margin_m": 0.0185,
      "required_coverage": 0.9
    },
    "carry_steps": 110,
    "carry_tilt_deg": 68.00761176159112,
    "carry_standoff_m": 0.24319957994569089,
    "carry_heading_rad": 0.9286210373380435,
    "carry_rotation_window": [
      0.11961515266218918,
      0.7288102184647427
    ],
    "departure_direction_xyz": [
      -0.03478019529246685,
      0.016845162840090522,
      0.1934802991564301
    ],
    "carry_control_points": [
      [
        0.4145413642326632,
        -0.31997439652512394,
        0.06984052951198545
      ],
      [
        0.37976116894019635,
        -0.3031292336850334,
        0.26332082866841555
      ],
      [
        0.543083623742626,
        -0.15253699525883097,
        0.2280816770651416
      ],
      [
        0.46309377760750525,
        -0.11254147936158215,
        0.2013344760916379
      ]
    ],
    "departure_rate": 0.34362644170249695,
    "carry_path_samples": 1,
    "carry_position_gp_length_scale": 0.3313742397538855,
    "carry_rotation_gp_length_scale": 0.43564047616529233,
    "target_xyz": [
      0.5599085450172424,
      0.016902061283588413,
      -0.004499999888241291
    ],
    "palm_seating_translation_m": [
      0.008,
      0.0,
      0.0
    ]
  },
  "events": [
    {
      "tick": 0,
      "kind": "reset",
      "scene_seed": 5000,
      "style": 25000
    },
    {
      "tick": 0,
      "kind": "approach_preflight",
      "candidates": [
        {
          "lift_m": 0.0,
          "backoff_m": 0.0,
          "entry_fraction": 0.6576754915861196,
          "chord_blend": 0.6,
          "minimum_can_clearance_m": 0.008479983874422836,
          "violations": 0,
          "first": []
        }
      ]
    },
    {
      "tick": 0,
      "kind": "initial_wrist_pose",
      "family": "rising_diagonal",
      "start_tick": 0,
      "position": [
        0.3976006507873535,
        0.008022326976060867,
        0.4833672046661377
      ],
      "controller_version": "one_wall_wrap_grasp_direct_reach_open_hand_v11"
    },
    {
      "tick": 125,
      "kind": "grasp_contact_order",
      "first_contact_ticks": {
        "thumb": 115,
        "ring": 116,
        "middle": 117,
        "pinky": 117
      },
      "max_capture_correction_m": 0.010938359294256893,
      "contacts": {
        "thumb": true,
        "index": false,
        "middle": true,
        "ring": true,
        "pinky": true,
        "palm": false,
        "button_links": []
      },
      "reach_progress": 1.0,
      "hand_gap_m": 0.010937411484298177,
      "commanded_gap_m": 0.0,
      "orientation_error_rad": 0.05973923540048975,
      "palm_capture_bias_m": 0.0028
    },
    {
      "tick": 125,
      "kind": "retained_grasp_yaw",
      "requested_deg": 20.0,
      "actual_deg": 35.64659414592192
    },
    {
      "tick": 125,
      "kind": "loaded_support_anchors",
      "anchors": {
        "thumb": {
          "link": "right_thumb_MC",
          "local": [
            0.04906471806303774,
            0.002653897159402641,
            0.023273562701191006
          ],
          "can_local": [
            0.02836927115004457,
            0.017701979227226636,
            0.027819014836289978
          ],
          "initial_force_n": 35.65201187133789
        },
        "middle": {
          "link": "right_middle_DP",
          "local": [
            0.021348723488675975,
            0.004454838407412883,
            -0.0025294951719012073
          ],
          "can_local": [
            -0.016212424835138774,
            -0.023797153937503358,
            0.0382835875068994
          ],
          "initial_force_n": 15.893013954162598
        },
        "ring": {
          "link": "right_ring_DP",
          "local": [
            0.021585242237694337,
            0.0034815548841115084,
            0.0016978785041625443
          ],
          "can_local": [
            -0.019579676797414115,
            -0.02441081213428812,
            0.01669360862376704
          ],
          "initial_force_n": 17.594072341918945
        },
        "pinky": {
          "link": "right_pinky_DP",
          "local": [
            0.023968835700461318,
            0.003488967386845576,
            0.0019344416876800317
          ],
          "can_local": [
            -0.020905496296130557,
            -0.02517800883642733,
            -0.0018647232956324053
          ],
          "initial_force_n": 13.955860137939453
        }
      }
    },
    {
      "tick": 152,
      "kind": "transport_clearance",
      "clearance_m": 0.041293612629175185,
      "can_displacement": [
        -0.006308258096341168,
        0.021572921572426185,
        0.053690685380878775
      ]
    },
    {
      "tick": 235,
      "kind": "varied_carry",
      "max_in_hand_slip_m": 0.01298475934051392,
      "steps": 110,
      "rotation_window": [
        0.11961515266218918,
        0.7288102184647427
      ],
      "target_xyz": [
        0.5599085450172424,
        0.016902061283588413,
        -0.004499999888241291
      ],
      "adaptive_preload_gain": 0.9153966117094933
    },
    {
      "tick": 249,
      "kind": "measured_regrasp_check",
      "refinement": 0,
      "index_error_m": 0.00019447181915545743
    },
    {
      "tick": 263,
      "kind": "index_alignment",
      "offset": -0.004,
      "target": [
        0.05869393737743675,
        0.03108080745953337,
        0.12488328842783668
      ],
      "pad_error_m": 0.00020561832756962919,
      "joint_target": [
        0.5676778566298728,
        -0.033726454143629576,
        1.7452999999999999,
        0.30401563975455437
      ]
    },
    {
      "tick": 263,
      "kind": "button_contact_check",
      "contacts": {
        "thumb": true,
        "index": false,
        "middle": true,
        "ring": true,
        "pinky": true,
        "palm": false,
        "button_links": [
          25
        ]
      },
      "index_links": [
        10,
        15,
        20,
        25
      ]
    },
    {
      "tick": 263,
      "kind": "painting_started",
      "native_success": false,
      "coverage": 0.09459847956895828,
      "outside": 0.02246745117008686
    },
    {
      "tick": 271,
      "kind": "painting_pressure_reference",
      "head_q_m": 0.008713221177458763,
      "press_depth_m": -0.004
    },
    {
      "tick": 448,
      "kind": "painting_finished",
      "touchup_steps": 0,
      "native_success": true,
      "coverage": 0.9019537568092346,
      "outside": 0.06941310316324234
    },
    {
      "tick": 476,
      "kind": "button_released",
      "press": 0.17043545842170715,
      "contacts": {
        "thumb": true,
        "index": false,
        "middle": true,
        "ring": true,
        "pinky": true,
        "palm": false,
        "button_links": []
      }
    }
  ],
  "final_other": {
    "can_pos": [
      0.41191110014915466,
      -0.1744287610054016,
      0.18311762809753418
    ],
    "can_quat": [
      0.39295682311058044,
      0.2588309645652771,
      0.4770820736885071,
      0.7422829866409302
    ],
    "can_vel": [
      0.009245658293366432,
      0.012076633051037788,
      -0.015460789203643799
    ],
    "head_q": [
      0.0010737433331087232
    ],
    "press_frac": [
      0.17043545842170715
    ],
    "nozzle_pos": [
      0.469120591878891,
      -0.1362859308719635,
      0.20511601865291595
    ],
    "nozzle_dir": [
      0.33640310168266296,
      0.23595499992370605,
      -0.9116786122322083
    ],
    "spray_active": [
      0.0
    ],
    "paint_debug_spheres": [
      0.0
    ],
    "spray_hit_xy": [
      0.5434460639953613,
      -0.07808411121368408
    ],
    "paint_coverage": [
      0.1383005827665329
    ],
    "paper_pos": [
      0.5619593262672424,
      -0.03994559496641159,
      -0.004999999888241291
    ],
    "paper_quat": [
      1.0,
      0.0,
      0.0,
      0.0
    ],
    "stencil_id": [
      0.0
    ],
    "stencil_center_xy": [
      0.5619593262672424,
      -0.03994559496641159
    ],
    "stencil_size": [
      0.15000000596046448
    ],
    "stencil_coverage": [
      0.9178997278213501
    ],
    "paint_outside_frac": [
      0.06903080642223358
    ],
    "action": [
      -0.05995085462927818,
      -0.203744575381279,
      -0.23659363389015198,
      0.9078173637390137,
      0.41569623351097107,
      0.03976290300488472,
      0.03851177915930748,
      1.5940757989883423,
      0.06000000238418579,
      1.281699538230896,
      1.2454897165298462,
      0.00967545248568058,
      -0.33853477239608765,
      -0.03372645378112793,
      0.3490999937057495,
      0.3490999937057495,
      1.1460906267166138,
      0.7885356545448303,
      0.20000004768371582,
      1.3777934312820435,
      1.745300054550171,
      0.3077884316444397,
      -0.3380795419216156,
      0.12000000476837158,
      1.268536925315857,
      1.3671751022338867,
      1.745300054550171,
      1.3177040815353394,
      1.314454436302185
    ],
    "last_action": [
      -0.06102854758501053,
      -0.20335006713867188,
      -0.235308438539505,
      0.909942090511322,
      0.4120052456855774,
      0.03789163753390312,
      0.028658760711550713,
      1.5940757989883423,
      0.06021904945373535,
      1.281699538230896,
      1.2454897165298462,
      0.00967545248568058,
      -0.33853477239608765,
      -0.03372645378112793,
      0.3490999937057495,
      0.3490999937057495,
      1.1460906267166138,
      0.7885356545448303,
      0.20066678524017334,
      1.3777934312820435,
      1.745300054550171,
      0.3077884316444397,
      -0.3380795419216156,
      0.1200793981552124,
      1.268536925315857,
      1.3671751022338867,
      1.745300054550171,
      1.3177040815353394,
      1.314454436302185
    ]
  },
  "human_visual_review": "unrated",
  "motion_quality": {
    "frames": 476,
    "seconds": 23.8,
    "backward_fraction": 0.0,
    "minimum_forward_x": 0.44593707574638874,
    "command_speed_max_m_s": 0.24088535415152115,
    "command_acceleration_p95_m_s2": 0.34940492222020025,
    "command_jerk_p95_m_s3": 6.888437820695122,
    "finger_range_rad": [
      1.0995540618896484,
      0.7115288525819778,
      1.1613152623176575,
      1.1202629506587982,
      0.039999981526259276,
      0.19636432826519012,
      0.3400083966553211,
      0.33952354546636343,
      0.3782222755253315,
      1.0226963311433792,
      0.6660380437970161,
      1.637219451367855,
      1.2279429286718369,
      1.5347805619239807,
      0.3444984182715416,
      0.3968367837369442,
      0.8244093134999275,
      1.1166321635246277,
      1.206591084599495,
      1.539223924279213,
      1.2365102916955948,
      1.1496923714876175
    ],
    "phases": {
      "Continuous reach and grasp": {
        "seconds": 6.25,
        "backward_fraction": 0.0,
        "minimum_forward_x": 0.44593707574638874,
        "mean_palm_x": 0.5940164580385412
      },
      "Continuous grasp-to-paint transfer": {
        "seconds": 5.5,
        "backward_fraction": 0.0,
        "minimum_forward_x": 0.5289323741305231,
        "mean_palm_x": 0.3874575951482262
      },
      "Align nozzle with measured canvas hit": {
        "seconds": 1.2,
        "backward_fraction": 0.0,
        "minimum_forward_x": 0.9999466990815303,
        "mean_palm_x": -0.0023562046058516147
      },
      "Align index pad with the actual button": {
        "seconds": 0.6,
        "backward_fraction": 0.0,
        "minimum_forward_x": 0.9999939036690872,
        "mean_palm_x": -0.002001368178644542
      },
      "Paint smooth overlapping passes inside the stencil": {
        "seconds": 8.85,
        "backward_fraction": 0.0,
        "minimum_forward_x": 0.998602049194601,
        "mean_palm_x": -0.0021300980113231798
      },
      "Release the index and stop spraying": {
        "seconds": 1.4,
        "backward_fraction": 0.0,
        "minimum_forward_x": 0.9987300012215122,
        "mean_palm_x": 0.0036362090509516865
      }
    },
    "human_visual_review": "unrated"
  },
  "lerobot_episode_index": 0,
  "merged_from": {
    "shard": "run-LkABPSuU",
    "shard_order": 0,
    "episode_index": 0
  }
}