| {"episode_index": 0, "task": "electroscope_pick", "local_episode_index": 0, "source": "code", "judged": {"code": true, "replay": false}, "start_id": 2, "draw": 0, "source_episode": 52, "start": {"id": 2, "reading": [43.0035, -30.1735, -7.0489, 109.7109, -23.8131, -20.1849, 3.4643, -33.4739, -43.5281, 29.4959, 6.3057, 109.8202, 24.2721, 21.8242, 7.0051, -64.4752], "objects": {"electroscope_plate": {"pos": [0.21345, -0.281659, 0.331836], "quat": [0.3861297, -0.4024866, 0.4034264, -0.7253659]}, "electroscope_stand": {"pos": [0.265369, -0.153962, 0.348861], "quat": [1.0, 0.0, 0.0, 0.0]}, "electroscope": {"pos": [0.2759, 0.0047, 0.229998], "quat": [1.0, 7.7e-06, -2.2e-06, 0.0]}, "electroscope_box": {"pos": [0.3013, -0.2584, 0.230002], "quat": [1.0, 1.3e-06, -3.96e-05, 9e-07]}}, "held": {"electroscope_plate": null}, "home": {"left": [0.202, 0.1518, 0.44552], "right": [0.18169, -0.11187, 0.43506]}, "source": {"episode": 52, "frame": 0}, "command": [42.9817, -30.1954, -6.9396, 110.301, -24.1191, -20.2723, 3.049, -39.6594, -43.0035, 29.6271, 6.7866, 110.5196, 24.7093, 21.8679, 7.6171, -72.9257], "shift": {"plate": {"level": 2, "dx_cm": -1.01, "dy_cm": -1.06, "yaw_deg": -4.96, "axis": [0.22362, -0.27102]}}, "settle": {"max_depth_mm": 0.002, "pair": ["electroscope_box", "bench2_desk"], "soft_depth_mm": 1.074, "max_speed_mm_s": 0.634, "seconds": 0.1}, "draw": 0}, "frames": 128, "sentences": ["pick up the white charging plate"], "code": {"frames": 172, "lead": 0, "anchor": 111, "span": [0, 171], "moved": true, "ik_err_mm_max": 0.2, "ik_err_deg_max": 0.05, "plate_gap_cm": [-0.35, -3.69, 0.41]}, "info": {"success": true, "success_frame": 127, "goal_now": true, "frames": 128}, "watch": {"fastest": {"electroscope_plate": {"m_s": 0.395, "tick": 124}, "electroscope_stand": {"m_s": 0.0, "tick": 11}, "electroscope": {"m_s": 0.0, "tick": 138}, "electroscope_box": {"m_s": 0.004, "tick": 129}}, "robot_contacts": {}, "props": {"electroscope": {"moved_cm": 0.0, "moved_at": 102, "tilt_deg": 0.0, "tilt_at": 32}, "electroscope_box": {"moved_cm": 0.013, "moved_at": 118, "tilt_deg": 0.09, "tilt_at": 119}}, "hand": {"held_frac": 0.116, "taken": 114, "let_go": 0, "slip_cm": 0.17, "reach_min_cm": 0.01, "reach_min_at": 111, "grip_max_deg": -2.0, "rule_frac": 0.147, "rule_agree": 0.969, "first_close": {"at": 110, "reach_cm": 0.03, "tab_above_pads_cm": -0.01, "tab_from_pads_xy_cm": 0.03, "held": false}}}} |
| {"episode_index": 1, "task": "electroscope_pick", "local_episode_index": 1, "source": "code", "judged": {"code": true, "replay": false}, "start_id": 3, "draw": 0, "source_episode": 53, "start": {"id": 3, "reading": [43.0035, -30.5014, -7.0489, 108.8803, -24.0317, -19.7696, -1.9125, -31.3319, -42.8942, 30.0205, 6.6773, 110.454, 24.0754, 21.6274, 6.9833, -64.4753], "objects": {"electroscope_plate": {"pos": [0.218966, -0.271359, 0.324838], "quat": [0.4986027, -0.4574861, 0.3356306, -0.6553273]}, "electroscope_stand": {"pos": [0.237758, -0.112056, 0.341699], "quat": [1.0, 0.0, 0.0, 0.0]}, "electroscope": {"pos": [0.2759, 0.0047, 0.229998], "quat": [1.0, 7.7e-06, -2.2e-06, 0.0]}, "electroscope_box": {"pos": [0.301299, -0.2584, 0.23], "quat": [1.0, 1.2e-06, -2.05e-05, 1.5e-06]}}, "held": {"electroscope_plate": null}, "home": {"left": [0.24678, 0.2422, 0.43439], "right": [0.17963, -0.13012, 0.42504]}, "source": {"episode": 53, "frame": 0}, "command": [42.9817, -30.5014, -7.0051, 110.1918, -24.2284, -18.9828, -2.4589, -37.4956, -43.0035, 30.4358, 7.0707, 110.7819, 24.6874, 21.4307, 7.8139, -72.9038], "shift": {"plate": {"level": 2, "dx_cm": -1.98, "dy_cm": 1.05, "yaw_deg": 0.68, "axis": [0.23877, -0.28186]}}, "settle": {"max_depth_mm": 0.006, "pair": ["electroscope_plate_disc", "electroscope_box"], "soft_depth_mm": 2.004, "max_speed_mm_s": 0.085, "seconds": 0.1}, "draw": 0}, "frames": 147, "sentences": ["pick up the white charging plate"], "code": {"frames": 195, "lead": 0, "anchor": 129, "span": [0, 194], "moved": true, "ik_err_mm_max": 0.17, "ik_err_deg_max": 0.04, "plate_gap_cm": [0.01, -6.0, 0.48]}, "info": {"success": true, "success_frame": 146, "goal_now": true, "frames": 147}, "watch": {"fastest": {"electroscope_plate": {"m_s": 0.292, "tick": 144}, "electroscope_stand": {"m_s": 0.0, "tick": 11}, "electroscope": {"m_s": 0.0, "tick": 157}, "electroscope_box": {"m_s": 0.013, "tick": 147}}, "robot_contacts": {}, "props": {"electroscope": {"moved_cm": 0.0, "moved_at": 102, "tilt_deg": 0.0, "tilt_at": 32}, "electroscope_box": {"moved_cm": 0.088, "moved_at": 139, "tilt_deg": 0.41, "tilt_at": 134}}, "hand": {"held_frac": 0.101, "taken": 133, "let_go": 0, "slip_cm": 1.15, "reach_min_cm": 0.01, "reach_min_at": 129, "grip_max_deg": -2.1, "rule_frac": 0.135, "rule_agree": 0.966, "first_close": {"at": 128, "reach_cm": 0.11, "tab_above_pads_cm": 0.02, "tab_from_pads_xy_cm": 0.11, "held": false}}}} |
| {"episode_index": 2, "task": "electroscope_pick", "local_episode_index": 2, "source": "code", "judged": {"code": true, "replay": false}, "start_id": 4, "draw": 0, "source_episode": 54, "start": {"id": 4, "reading": [43.0035, -30.7855, -6.721, 109.1645, -23.8787, -21.0592, -5.7812, -30.8948, -43.2002, 30.0205, 6.3494, 110.148, 23.4416, 21.7804, 7.3767, -64.4753], "objects": {"electroscope_plate": {"pos": [0.242997, -0.276456, 0.324811], "quat": [0.4926752, -0.4541158, 0.34029, -0.6597369]}, "electroscope_stand": {"pos": [0.245351, -0.132336, 0.350663], "quat": [1.0, 0.0, 0.0, 0.0]}, "electroscope": {"pos": [0.2759, 0.0047, 0.229998], "quat": [1.0, 7.7e-06, -2.2e-06, 0.0]}, "electroscope_box": {"pos": [0.3013, -0.2584, 0.23], "quat": [1.0, 2.7e-06, -1.68e-05, 1.2e-06]}}, "held": {"electroscope_plate": null}, "home": {"left": [0.27018, 0.19136, 0.44648], "right": [0.18181, -0.14852, 0.45113]}, "source": {"episode": 54, "frame": 0}, "command": [43.1347, -30.5014, -6.9833, 109.995, -24.6874, -21.1466, -7.5297, -37.124, -43.0254, 30.3046, 7.0489, 110.4759, 24.7311, 21.6056, 8.0106, -72.9257], "shift": {"plate": {"level": 2, "dx_cm": 1.2, "dy_cm": -0.31, "yaw_deg": 9.79, "axis": [0.231, -0.27337]}}, "settle": {"max_depth_mm": 0.008, "pair": ["electroscope_plate_disc", "electroscope_box"], "soft_depth_mm": 2.018, "max_speed_mm_s": 0.085, "seconds": 0.1}, "draw": 0}, "frames": 148, "sentences": ["pick up the white charging plate"], "code": {"frames": 214, "lead": 0, "anchor": 131, "span": [0, 213], "moved": true, "ik_err_mm_max": 0.19, "ik_err_deg_max": 0.04, "plate_gap_cm": [1.0, -3.89, -0.29]}, "info": {"success": true, "success_frame": 147, "goal_now": true, "frames": 148}, "watch": {"fastest": {"electroscope_plate": {"m_s": 0.218, "tick": 144}, "electroscope_stand": {"m_s": 0.0, "tick": 11}, "electroscope": {"m_s": 0.0, "tick": 158}, "electroscope_box": {"m_s": 0.012, "tick": 145}}, "robot_contacts": {}, "props": {"electroscope": {"moved_cm": 0.0, "moved_at": 102, "tilt_deg": 0.0, "tilt_at": 32}, "electroscope_box": {"moved_cm": 0.08, "moved_at": 144, "tilt_deg": 0.11, "tilt_at": 144}}, "hand": {"held_frac": 0.101, "taken": 134, "let_go": 0, "slip_cm": 0.32, "reach_min_cm": 0.0, "reach_min_at": 131, "grip_max_deg": -2.0, "rule_frac": 0.128, "rule_agree": 0.973, "first_close": {"at": 130, "reach_cm": 0.01, "tab_above_pads_cm": 0.01, "tab_from_pads_xy_cm": 0.01, "held": false}}}} |
| {"episode_index": 3, "task": "electroscope_pick", "local_episode_index": 3, "source": "code", "judged": {"code": true, "replay": false}, "start_id": 5, "draw": 0, "source_episode": 55, "start": {"id": 5, "reading": [43.0035, -30.5014, -7.1581, 109.842, -23.8787, -20.6002, -3.6392, -36.2716, -42.8942, 30.1735, 6.3057, 110.4103, 24.0536, 21.846, 7.3986, -63.3624], "objects": {"electroscope_plate": {"pos": [0.240323, -0.285423, 0.325009], "quat": [0.4283611, -0.4213367, 0.3811108, -0.702664]}, "electroscope_stand": {"pos": [0.30095, -0.127996, 0.349524], "quat": [1.0, 0.0, 0.0, 0.0]}, "electroscope": {"pos": [0.2759, 0.0047, 0.229998], "quat": [1.0, 7.7e-06, -2.2e-06, 0.0]}, "electroscope_box": {"pos": [0.3013, -0.258399, 0.230002], "quat": [1.0, 6.4e-06, -3.25e-05, 1.6e-06]}}, "held": {"electroscope_plate": null}, "home": {"left": [0.23351, 0.18311, 0.4498], "right": [0.17841, -0.09993, 0.45426]}, "source": {"episode": 55, "frame": 0}, "command": [42.9817, -30.3484, -7.1144, 110.301, -24.2284, -20.5127, -2.4589, -42.2167, -43.0035, 30.5888, 6.8303, 110.6289, 24.6874, 21.8679, 8.0106, -65.4943], "shift": {"plate": {"level": 2, "dx_cm": 1.26, "dy_cm": -1.92, "yaw_deg": -2.73, "axis": [0.22774, -0.26622]}}, "settle": {"max_depth_mm": 0.025, "pair": ["electroscope_box", "electroscope_plate_tab"], "soft_depth_mm": 2.286, "max_speed_mm_s": 0.085, "seconds": 0.1}, "draw": 0}, "frames": 143, "sentences": ["pick up the white charging plate"], "code": {"frames": 198, "lead": 0, "anchor": 125, "span": [0, 197], "moved": true, "ik_err_mm_max": 0.19, "ik_err_deg_max": 0.05, "plate_gap_cm": [-1.99, -6.46, -0.25]}, "info": {"success": true, "success_frame": 142, "goal_now": true, "frames": 143}, "watch": {"fastest": {"electroscope_plate": {"m_s": 0.12, "tick": 141}, "electroscope_stand": {"m_s": 0.0, "tick": 11}, "electroscope": {"m_s": 0.0, "tick": 153}, "electroscope_box": {"m_s": 0.014, "tick": 142}}, "robot_contacts": {}, "props": {"electroscope": {"moved_cm": 0.0, "moved_at": 102, "tilt_deg": 0.0, "tilt_at": 32}, "electroscope_box": {"moved_cm": 0.048, "moved_at": 137, "tilt_deg": 0.12, "tilt_at": 140}}, "hand": {"held_frac": 0.104, "taken": 129, "let_go": 0, "slip_cm": 0.88, "reach_min_cm": 0.01, "reach_min_at": 121, "grip_max_deg": -2.6, "rule_frac": 0.132, "rule_agree": 0.972, "first_close": {"at": 125, "reach_cm": 0.01, "tab_above_pads_cm": -0.0, "tab_from_pads_xy_cm": 0.01, "held": false}}}} |
| {"episode_index": 4, "task": "electroscope_pick", "local_episode_index": 4, "source": "code", "judged": {"code": true, "replay": false}, "start_id": 6, "draw": 0, "source_episode": 56, "start": {"id": 6, "reading": [42.8724, -28.5779, -7.5079, 109.3612, -20.3816, -18.3052, -4.9506, -40.796, -43.0691, 30.1735, 7.027, 109.8639, 24.0973, 21.234, 9.169, -64.4753], "objects": {"electroscope_plate": {"pos": [0.23814, -0.278013, 0.32481], "quat": [0.4976416, -0.4566801, 0.3368249, -0.656007]}, "electroscope_stand": {"pos": [0.246414, -0.128704, 0.349008], "quat": [1.0, 0.0, 0.0, 0.0]}, "electroscope": {"pos": [0.2759, 0.0047, 0.229998], "quat": [1.0, 7.7e-06, -2.2e-06, 0.0]}, "electroscope_box": {"pos": [0.3013, -0.2584, 0.230001], "quat": [1.0, 2.7e-06, -2.95e-05, 1.4e-06]}}, "held": {"electroscope_plate": null}, "home": {"left": [0.18183, 0.19688, 0.45209], "right": [0.20798, -0.15837, 0.45245]}, "source": {"episode": 56, "frame": 0}, "command": [42.9817, -28.2938, -7.2674, 110.301, -20.9499, -18.8079, -4.426, -46.5006, -43.0035, 30.7855, 7.1363, 110.5196, 24.8841, 21.0373, 10.8083, -72.9257], "shift": {"plate": {"level": 2, "dx_cm": 1.04, "dy_cm": -1.18, "yaw_deg": 8.84, "axis": [0.22774, -0.26622]}}, "settle": {"max_depth_mm": 0.01, "pair": ["electroscope_plate_disc", "electroscope_box"], "soft_depth_mm": 2.016, "max_speed_mm_s": 0.085, "seconds": 0.1}, "draw": 0}, "frames": 192, "sentences": ["pick up the white charging plate"], "code": {"frames": 239, "lead": 0, "anchor": 175, "span": [0, 238], "moved": true, "ik_err_mm_max": 0.19, "ik_err_deg_max": 0.04, "plate_gap_cm": [0.34, -4.41, -0.0]}, "info": {"success": true, "success_frame": 191, "goal_now": true, "frames": 192}, "watch": {"fastest": {"electroscope_plate": {"m_s": 0.246, "tick": 188}, "electroscope_stand": {"m_s": 0.0, "tick": 11}, "electroscope": {"m_s": 0.0, "tick": 202}, "electroscope_box": {"m_s": 0.011, "tick": 192}}, "robot_contacts": {}, "props": {"electroscope": {"moved_cm": 0.0, "moved_at": 102, "tilt_deg": 0.0, "tilt_at": 32}, "electroscope_box": {"moved_cm": 0.037, "moved_at": 181, "tilt_deg": 0.25, "tilt_at": 179}}, "hand": {"held_frac": 0.078, "taken": 178, "let_go": 0, "slip_cm": 0.37, "reach_min_cm": 0.01, "reach_min_at": 173, "grip_max_deg": -3.1, "rule_frac": 0.098, "rule_agree": 0.979, "first_close": {"at": 174, "reach_cm": 0.01, "tab_above_pads_cm": -0.0, "tab_from_pads_xy_cm": 0.01, "held": false}}}} |
| {"episode_index": 5, "task": "electroscope_pick", "local_episode_index": 5, "source": "code", "judged": {"code": true, "replay": false}, "start_id": 7, "draw": 0, "source_episode": 57, "start": {"id": 7, "reading": [43.1565, -30.5014, -7.1581, 109.2082, -24.2503, -18.0866, -6.1964, -41.0583, -43.3751, 30.0205, 6.6336, 109.6016, 24.294, 21.8242, 7.18, -64.4753], "objects": {"electroscope_plate": {"pos": [0.215659, -0.246049, 0.324876], "quat": [0.407253, -0.4092694, 0.3930898, -0.7156283]}, "electroscope_stand": {"pos": [0.268198, -0.099881, 0.346518], "quat": [1.0, 0.0, 0.0, 0.0]}, "electroscope": {"pos": [0.2759, 0.0047, 0.229998], "quat": [1.0, 7.7e-06, -2.2e-06, 0.0]}, "electroscope_box": {"pos": [0.301301, -0.2584, 0.230002], "quat": [1.0, -7.3e-06, -3.58e-05, 4.5e-06]}}, "held": {"electroscope_plate": null}, "home": {"left": [0.27023, 0.29187, 0.43275], "right": [0.18465, -0.14519, 0.44095]}, "source": {"episode": 57, "frame": 0}, "command": [43.1347, -30.5014, -7.0926, 109.8202, -24.4688, -18.8298, -7.027, -47.1345, -43.0254, 30.7636, 7.0707, 110.2573, 24.9278, 21.8023, 7.639, -72.9038], "shift": {"plate": {"level": 2, "dx_cm": -0.93, "dy_cm": 1.93, "yaw_deg": -2.88, "axis": [0.22443, -0.26546]}}, "settle": {"max_depth_mm": 0.002, "pair": ["electroscope_box", "bench2_desk"], "soft_depth_mm": 0.0, "max_speed_mm_s": 0.085, "seconds": 0.1}, "draw": 0}, "frames": 159, "sentences": ["pick up the white charging plate"], "code": {"frames": 217, "lead": 0, "anchor": 141, "span": [0, 216], "moved": true, "ik_err_mm_max": 0.19, "ik_err_deg_max": 0.04, "plate_gap_cm": [-1.24, -4.87, -0.37]}, "info": {"success": true, "success_frame": 158, "goal_now": true, "frames": 159}, "watch": {"fastest": {"electroscope_plate": {"m_s": 0.294, "tick": 155}, "electroscope_stand": {"m_s": 0.0, "tick": 11}, "electroscope": {"m_s": 0.0, "tick": 169}, "electroscope_box": {"m_s": 0.005, "tick": 160}}, "robot_contacts": {}, "props": {"electroscope": {"moved_cm": 0.0, "moved_at": 102, "tilt_deg": 0.0, "tilt_at": 32}, "electroscope_box": {"moved_cm": 0.018, "moved_at": 152, "tilt_deg": 0.1, "tilt_at": 147}}, "hand": {"held_frac": 0.094, "taken": 145, "let_go": 0, "slip_cm": 0.21, "reach_min_cm": 0.01, "reach_min_at": 139, "grip_max_deg": -2.7, "rule_frac": 0.125, "rule_agree": 0.969, "first_close": {"at": 140, "reach_cm": 0.01, "tab_above_pads_cm": -0.0, "tab_from_pads_xy_cm": 0.01, "held": false}}}} |
| {"episode_index": 6, "task": "electroscope_pick", "local_episode_index": 6, "source": "code", "judged": {"code": true, "replay": false}, "start_id": 8, "draw": 0, "source_episode": 58, "start": {"id": 8, "reading": [43.1565, -30.3265, -6.9396, 109.0989, -24.0098, -21.1029, 1.4753, -39.3097, -43.0472, 30.0205, 6.3932, 109.0989, 24.0536, 22.2176, 8.6444, -64.4753], "objects": {"electroscope_plate": {"pos": [0.215025, -0.271433, 0.324849], "quat": [0.3956801, -0.4024884, 0.40028, -0.7219531]}, "electroscope_stand": {"pos": [0.272929, -0.128541, 0.349579], "quat": [1.0, 0.0, 0.0, 0.0]}, "electroscope": {"pos": [0.2759, 0.0047, 0.229998], "quat": [1.0, 7.7e-06, -2.2e-06, 0.0]}, "electroscope_box": {"pos": [0.301299, -0.258399, 0.23], "quat": [1.0, 4.4e-06, -1.4e-05, 6e-07]}}, "held": {"electroscope_plate": null}, "home": {"left": [0.2172, 0.22959, 0.42241], "right": [0.20206, -0.12875, 0.45949]}, "source": {"episode": 58, "frame": 0}, "command": [43.1347, -30.3265, -7.0051, 109.4486, -24.294, -21.1466, 3.0272, -45.1892, -43.0035, 30.5888, 7.0489, 110.301, 24.6874, 22.0646, 8.1854, -72.9257], "shift": {"plate": {"level": 2, "dx_cm": -2.34, "dy_cm": 0.29, "yaw_deg": -9.09, "axis": [0.23842, -0.27434]}}, "settle": {"max_depth_mm": 0.012, "pair": ["electroscope_plate_disc", "electroscope_box"], "soft_depth_mm": 2.027, "max_speed_mm_s": 0.085, "seconds": 0.1}, "draw": 0}, "frames": 143, "sentences": ["pick up the white charging plate"], "code": {"frames": 232, "lead": 0, "anchor": 122, "span": [0, 231], "moved": true, "ik_err_mm_max": 0.18, "ik_err_deg_max": 0.05, "plate_gap_cm": [-0.96, -5.19, -0.68]}, "info": {"success": true, "success_frame": 142, "goal_now": true, "frames": 143}, "watch": {"fastest": {"electroscope_plate": {"m_s": 0.08, "tick": 141}, "electroscope_stand": {"m_s": 0.0, "tick": 11}, "electroscope": {"m_s": 0.0, "tick": 153}, "electroscope_box": {"m_s": 0.01, "tick": 141}}, "robot_contacts": {}, "props": {"electroscope": {"moved_cm": 0.0, "moved_at": 102, "tilt_deg": 0.0, "tilt_at": 32}, "electroscope_box": {"moved_cm": 0.075, "moved_at": 135, "tilt_deg": 0.3, "tilt_at": 134}}, "hand": {"held_frac": 0.104, "taken": 129, "let_go": 0, "slip_cm": 0.49, "reach_min_cm": 0.01, "reach_min_at": 121, "grip_max_deg": -2.4, "rule_frac": 0.16, "rule_agree": 0.944, "first_close": {"at": 121, "reach_cm": 0.01, "tab_above_pads_cm": 0.01, "tab_from_pads_xy_cm": 0.01, "held": false}}}} |
| {"episode_index": 7, "task": "electroscope_pick", "local_episode_index": 7, "source": "code", "judged": {"code": true, "replay": false}, "start_id": 9, "draw": 0, "source_episode": 59, "start": {"id": 9, "reading": [43.0035, -30.6325, -6.9396, 108.8803, -24.0536, -20.6439, -1.9562, -51.7244, -43.2221, 30.0205, 6.721, 109.9076, 24.0536, 21.6274, 6.3494, -64.4753], "objects": {"electroscope_plate": {"pos": [0.233242, -0.299367, 0.324827], "quat": [0.4984604, -0.4573392, 0.3357104, -0.6554972]}, "electroscope_stand": {"pos": [0.249871, -0.135795, 0.349046], "quat": [1.0, 0.0, 0.0, 0.0]}, "electroscope": {"pos": [0.2759, 0.0047, 0.229998], "quat": [1.0, 7.7e-06, -2.2e-06, 0.0]}, "electroscope_box": {"pos": [0.301299, -0.258399, 0.230002], "quat": [1.0, 6.9e-06, -3.41e-05, 5e-07]}}, "held": {"electroscope_plate": null}, "home": {"left": [0.21419, 0.22854, 0.44152], "right": [0.17738, -0.1486, 0.43282]}, "source": {"episode": 59, "frame": 0}, "command": [42.9598, -30.4795, -7.1144, 110.1918, -24.1847, -20.0537, -3.049, -57.4291, -43.0254, 30.6325, 7.0926, 110.76, 20.928, 22.3706, 6.1309, -72.882], "shift": {"plate": {"level": 2, "dx_cm": -0.23, "dy_cm": -2.77, "yaw_deg": 2.85, "axis": [0.23554, -0.27167]}}, "settle": {"max_depth_mm": 0.011, "pair": ["electroscope_plate_disc", "electroscope_box"], "soft_depth_mm": 2.029, "max_speed_mm_s": 0.085, "seconds": 0.1}, "draw": 0}, "frames": 131, "sentences": ["pick up the white charging plate"], "code": {"frames": 203, "lead": 0, "anchor": 114, "span": [0, 202], "moved": true, "ik_err_mm_max": 0.2, "ik_err_deg_max": 0.06, "plate_gap_cm": [-0.09, -6.07, -0.34]}, "info": {"success": true, "success_frame": 130, "goal_now": true, "frames": 131}, "watch": {"fastest": {"electroscope_plate": {"m_s": 0.089, "tick": 128}, "electroscope_stand": {"m_s": 0.0, "tick": 11}, "electroscope": {"m_s": 0.0, "tick": 141}, "electroscope_box": {"m_s": 0.008, "tick": 129}}, "robot_contacts": {}, "props": {"electroscope": {"moved_cm": 0.0, "moved_at": 102, "tilt_deg": 0.0, "tilt_at": 32}, "electroscope_box": {"moved_cm": 0.052, "moved_at": 130, "tilt_deg": 0.13, "tilt_at": 129}}, "hand": {"held_frac": 0.114, "taken": 117, "let_go": 0, "slip_cm": 0.58, "reach_min_cm": 0.02, "reach_min_at": 112, "grip_max_deg": -2.2, "rule_frac": 0.136, "rule_agree": 0.977, "first_close": {"at": 114, "reach_cm": 0.02, "tab_above_pads_cm": -0.01, "tab_from_pads_xy_cm": 0.02, "held": false}}}} |
| {"episode_index": 8, "task": "electroscope_pick", "local_episode_index": 8, "source": "code", "judged": {"code": true, "replay": false}, "start_id": 2, "draw": 1, "source_episode": 52, "start": {"id": 2, "reading": [43.0035, -30.1735, -7.0489, 109.7109, -23.8131, -20.1849, 3.4643, -33.4739, -43.5281, 29.4959, 6.3057, 109.8202, 24.2721, 21.8242, 7.0051, -64.4752], "objects": {"electroscope_plate": {"pos": [0.234493, -0.287546, 0.332669], "quat": [0.4184503, -0.4274164, 0.3804473, -0.7053187]}, "electroscope_stand": {"pos": [0.273325, -0.155182, 0.348861], "quat": [1.0, 0.0, 0.0, 0.0]}, "electroscope": {"pos": [0.2759, 0.0047, 0.229998], "quat": [1.0, 7.7e-06, -2.2e-06, 0.0]}, "electroscope_box": {"pos": [0.3013, -0.2584, 0.23], "quat": [1.0, 1e-06, -2.53e-05, 1.3e-06]}}, "held": {"electroscope_plate": null}, "home": {"left": [0.202, 0.1518, 0.44552], "right": [0.18169, -0.11187, 0.43506]}, "source": {"episode": 52, "frame": 0}, "command": [42.9817, -30.1954, -6.9396, 110.301, -24.1191, -20.2723, 3.049, -39.6594, -43.0035, 29.6271, 6.7866, 110.5196, 24.7093, 21.8679, 7.6171, -72.9257], "shift": {"plate": {"level": 2, "dx_cm": 1.1, "dy_cm": -1.64, "yaw_deg": 0.83, "axis": [0.22362, -0.27102]}}, "settle": {"max_depth_mm": 0.002, "pair": ["electroscope_box", "bench2_desk"], "soft_depth_mm": 1.419, "max_speed_mm_s": 0.552, "seconds": 0.1}, "draw": 1}, "frames": 128, "sentences": ["pick up the white charging plate"], "code": {"frames": 172, "lead": 0, "anchor": 111, "span": [0, 171], "moved": true, "ik_err_mm_max": 0.19, "ik_err_deg_max": 0.05, "plate_gap_cm": [0.03, -3.7, 0.44]}, "info": {"success": true, "success_frame": 127, "goal_now": true, "frames": 128}, "watch": {"fastest": {"electroscope_plate": {"m_s": 0.419, "tick": 124}, "electroscope_stand": {"m_s": 0.0, "tick": 11}, "electroscope": {"m_s": 0.0, "tick": 138}, "electroscope_box": {"m_s": 0.002, "tick": 125}}, "robot_contacts": {}, "props": {"electroscope": {"moved_cm": 0.0, "moved_at": 102, "tilt_deg": 0.0, "tilt_at": 32}, "electroscope_box": {"moved_cm": 0.009, "moved_at": 116, "tilt_deg": 0.06, "tilt_at": 116}}, "hand": {"held_frac": 0.116, "taken": 114, "let_go": 0, "slip_cm": 0.18, "reach_min_cm": 0.0, "reach_min_at": 111, "grip_max_deg": -2.1, "rule_frac": 0.147, "rule_agree": 0.969, "first_close": {"at": 110, "reach_cm": 0.03, "tab_above_pads_cm": -0.0, "tab_from_pads_xy_cm": 0.03, "held": false}}}} |
| {"episode_index": 9, "task": "electroscope_pick", "local_episode_index": 9, "source": "code", "judged": {"code": true, "replay": false}, "start_id": 3, "draw": 1, "source_episode": 53, "start": {"id": 3, "reading": [43.0035, -30.5014, -7.0489, 108.8803, -24.0317, -19.7696, -1.9125, -31.3319, -42.8942, 30.0205, 6.6773, 110.454, 24.0754, 21.6274, 6.9833, -64.4753], "objects": {"electroscope_plate": {"pos": [0.229032, -0.30358, 0.331608], "quat": [0.4421868, -0.4306436, 0.3717675, -0.6934017]}, "electroscope_stand": {"pos": [0.273489, -0.149425, 0.341699], "quat": [1.0, 0.0, 0.0, 0.0]}, "electroscope": {"pos": [0.2759, 0.0047, 0.229998], "quat": [1.0, 7.7e-06, -2.2e-06, 0.0]}, "electroscope_box": {"pos": [0.3013, -0.2584, 0.23], "quat": [1.0, 3.4e-06, -2.12e-05, 1.2e-06]}}, "held": {"electroscope_plate": null}, "home": {"left": [0.24678, 0.2422, 0.43439], "right": [0.17963, -0.13012, 0.42504]}, "source": {"episode": 53, "frame": 0}, "command": [42.9817, -30.5014, -7.0051, 110.1918, -24.2284, -18.9828, -2.4589, -37.4956, -43.0035, 30.4358, 7.0707, 110.7819, 24.6874, 21.4307, 7.8139, -72.9038], "shift": {"plate": {"level": 2, "dx_cm": -0.97, "dy_cm": -2.17, "yaw_deg": -8.67, "axis": [0.23877, -0.28186]}}, "settle": {"max_depth_mm": 0.002, "pair": ["electroscope_box", "bench2_desk"], "soft_depth_mm": 0.773, "max_speed_mm_s": 0.132, "seconds": 0.1}, "draw": 1}, "frames": 147, "sentences": ["pick up the white charging plate"], "code": {"frames": 195, "lead": 0, "anchor": 129, "span": [0, 194], "moved": true, "ik_err_mm_max": 0.19, "ik_err_deg_max": 0.04, "plate_gap_cm": [-0.97, -5.92, 1.14]}, "info": {"success": true, "success_frame": 146, "goal_now": true, "frames": 147}, "watch": {"fastest": {"electroscope_plate": {"m_s": 0.296, "tick": 144}, "electroscope_stand": {"m_s": 0.0, "tick": 11}, "electroscope": {"m_s": 0.0, "tick": 157}, "electroscope_box": {"m_s": 0.002, "tick": 145}}, "robot_contacts": {}, "props": {"electroscope": {"moved_cm": 0.0, "moved_at": 102, "tilt_deg": 0.0, "tilt_at": 32}, "electroscope_box": {"moved_cm": 0.01, "moved_at": 147, "tilt_deg": 0.07, "tilt_at": 139}}, "hand": {"held_frac": 0.101, "taken": 133, "let_go": 0, "slip_cm": 1.1, "reach_min_cm": 0.01, "reach_min_at": 129, "grip_max_deg": -1.8, "rule_frac": 0.135, "rule_agree": 0.966, "first_close": {"at": 128, "reach_cm": 0.12, "tab_above_pads_cm": 0.03, "tab_from_pads_xy_cm": 0.12, "held": false}}}} |
| {"episode_index": 10, "task": "electroscope_pick", "local_episode_index": 10, "source": "code", "judged": {"code": true, "replay": true}, "start_id": 4, "draw": 1, "source_episode": 54, "start": {"id": 4, "reading": [43.0035, -30.7855, -6.721, 109.1645, -23.8787, -21.0592, -5.7812, -30.8948, -43.2002, 30.0205, 6.3494, 110.148, 23.4416, 21.7804, 7.3767, -64.4753], "objects": {"electroscope_plate": {"pos": [0.226994, -0.24727, 0.324879], "quat": [0.4706301, -0.4433473, 0.354228, -0.6756279]}, "electroscope_stand": {"pos": [0.238673, -0.10359, 0.350663], "quat": [1.0, 0.0, 0.0, 0.0]}, "electroscope": {"pos": [0.2759, 0.0047, 0.229998], "quat": [1.0, 7.7e-06, -2.2e-06, 0.0]}, "electroscope_box": {"pos": [0.3013, -0.2584, 0.230002], "quat": [1.0, -9.1e-06, -2.47e-05, 6.3e-06]}}, "held": {"electroscope_plate": null}, "home": {"left": [0.27018, 0.19136, 0.44648], "right": [0.18181, -0.14852, 0.45113]}, "source": {"episode": 54, "frame": 0}, "command": [43.1347, -30.5014, -6.9833, 109.995, -24.6874, -21.1466, -7.5297, -37.124, -43.0254, 30.3046, 7.0489, 110.4759, 24.7311, 21.6056, 8.0106, -72.9257], "shift": {"plate": {"level": 2, "dx_cm": -0.4, "dy_cm": 2.61, "yaw_deg": 6.08, "axis": [0.231, -0.27337]}}, "settle": {"max_depth_mm": 0.002, "pair": ["electroscope_box", "bench2_desk"], "soft_depth_mm": 0.0, "max_speed_mm_s": 0.085, "seconds": 0.1}, "draw": 1}, "frames": 148, "sentences": ["pick up the white charging plate"], "code": {"frames": 214, "lead": 0, "anchor": 131, "span": [0, 213], "moved": true, "ik_err_mm_max": 0.2, "ik_err_deg_max": 0.04, "plate_gap_cm": [0.75, -3.94, -0.29]}, "info": {"success": true, "success_frame": 147, "goal_now": true, "frames": 148}, "watch": {"fastest": {"electroscope_plate": {"m_s": 0.423, "tick": 144}, "electroscope_stand": {"m_s": 0.0, "tick": 11}, "electroscope": {"m_s": 0.0, "tick": 158}, "electroscope_box": {"m_s": 0.001, "tick": 154}}, "robot_contacts": {}, "props": {"electroscope": {"moved_cm": 0.0, "moved_at": 102, "tilt_deg": 0.0, "tilt_at": 32}, "electroscope_box": {"moved_cm": 0.011, "moved_at": 136, "tilt_deg": 0.09, "tilt_at": 138}}, "hand": {"held_frac": 0.101, "taken": 134, "let_go": 0, "slip_cm": 0.26, "reach_min_cm": 0.01, "reach_min_at": 122, "grip_max_deg": -2.7, "rule_frac": 0.128, "rule_agree": 0.973, "first_close": {"at": 130, "reach_cm": 0.01, "tab_above_pads_cm": 0.01, "tab_from_pads_xy_cm": 0.0, "held": false}}}} |
| {"episode_index": 11, "task": "electroscope_pick", "local_episode_index": 11, "source": "code", "judged": {"code": true, "replay": false}, "start_id": 5, "draw": 1, "source_episode": 55, "start": {"id": 5, "reading": [43.0035, -30.5014, -7.1581, 109.842, -23.8787, -20.6002, -3.6392, -36.2716, -42.8942, 30.1735, 6.3057, 110.4103, 24.0536, 21.846, 7.3986, -63.3624], "objects": {"electroscope_plate": {"pos": [0.210838, -0.244825, 0.324863], "quat": [0.4064491, -0.4087128, 0.3935795, -0.7161342]}, "electroscope_stand": {"pos": [0.281162, -0.091488, 0.349524], "quat": [1.0, 0.0, 0.0, 0.0]}, "electroscope": {"pos": [0.2759, 0.0047, 0.229998], "quat": [1.0, 7.7e-06, -2.2e-06, 0.0]}, "electroscope_box": {"pos": [0.301301, -0.2584, 0.230003], "quat": [1.0, -9.2e-06, -3.95e-05, 6.2e-06]}}, "held": {"electroscope_plate": null}, "home": {"left": [0.23351, 0.18311, 0.4498], "right": [0.17841, -0.09993, 0.45426]}, "source": {"episode": 55, "frame": 0}, "command": [42.9817, -30.3484, -7.1144, 110.301, -24.2284, -20.5127, -2.4589, -42.2167, -43.0035, 30.5888, 6.8303, 110.6289, 24.6874, 21.8679, 8.0106, -65.4943], "shift": {"plate": {"level": 2, "dx_cm": -1.69, "dy_cm": 2.14, "yaw_deg": -6.31, "axis": [0.22774, -0.26622]}}, "settle": {"max_depth_mm": 0.003, "pair": ["electroscope_box", "bench2_desk"], "soft_depth_mm": 0.0, "max_speed_mm_s": 0.085, "seconds": 0.1}, "draw": 1}, "frames": 143, "sentences": ["pick up the white charging plate"], "code": {"frames": 198, "lead": 0, "anchor": 125, "span": [0, 197], "moved": true, "ik_err_mm_max": 0.19, "ik_err_deg_max": 0.05, "plate_gap_cm": [-2.39, -6.33, -0.26]}, "info": {"success": true, "success_frame": 142, "goal_now": true, "frames": 143}, "watch": {"fastest": {"electroscope_plate": {"m_s": 0.368, "tick": 139}, "electroscope_stand": {"m_s": 0.0, "tick": 11}, "electroscope": {"m_s": 0.0, "tick": 153}, "electroscope_box": {"m_s": 0.005, "tick": 145}}, "robot_contacts": {}, "props": {"electroscope": {"moved_cm": 0.0, "moved_at": 102, "tilt_deg": 0.0, "tilt_at": 32}, "electroscope_box": {"moved_cm": 0.029, "moved_at": 143, "tilt_deg": 0.09, "tilt_at": 140}}, "hand": {"held_frac": 0.104, "taken": 129, "let_go": 0, "slip_cm": 0.16, "reach_min_cm": 0.01, "reach_min_at": 125, "grip_max_deg": -2.6, "rule_frac": 0.132, "rule_agree": 0.972, "first_close": {"at": 125, "reach_cm": 0.01, "tab_above_pads_cm": -0.0, "tab_from_pads_xy_cm": 0.01, "held": false}}}} |
| {"episode_index": 12, "task": "electroscope_pick", "local_episode_index": 12, "source": "code", "judged": {"code": true, "replay": false}, "start_id": 6, "draw": 1, "source_episode": 56, "start": {"id": 6, "reading": [42.8724, -28.5779, -7.5079, 109.3612, -20.3816, -18.3052, -4.9506, -40.796, -43.0691, 30.1735, 7.027, 109.8639, 24.0973, 21.234, 9.169, -64.4753], "objects": {"electroscope_plate": {"pos": [0.227738, -0.261711, 0.324824], "quat": [0.4439028, -0.4285076, 0.3721978, -0.6933977]}, "electroscope_stand": {"pos": [0.259577, -0.115603, 0.349008], "quat": [1.0, 0.0, 0.0, 0.0]}, "electroscope": {"pos": [0.2759, 0.0047, 0.229998], "quat": [1.0, 7.7e-06, -2.2e-06, 0.0]}, "electroscope_box": {"pos": [0.3013, -0.2584, 0.230001], "quat": [1.0, 8e-07, -3.23e-05, 1.8e-06]}}, "held": {"electroscope_plate": null}, "home": {"left": [0.18183, 0.19688, 0.45209], "right": [0.20798, -0.15837, 0.45245]}, "source": {"episode": 56, "frame": 0}, "command": [42.9817, -28.2938, -7.2674, 110.301, -20.9499, -18.8079, -4.426, -46.5006, -43.0035, 30.7855, 7.1363, 110.5196, 24.8841, 21.0373, 10.8083, -72.9257], "shift": {"plate": {"level": 2, "dx_cm": 0.0, "dy_cm": 0.45, "yaw_deg": -0.28, "axis": [0.22774, -0.26622]}}, "settle": {"max_depth_mm": 0.008, "pair": ["electroscope_plate_disc", "electroscope_box"], "soft_depth_mm": 2.007, "max_speed_mm_s": 0.085, "seconds": 0.1}, "draw": 1}, "frames": 192, "sentences": ["pick up the white charging plate"], "code": {"frames": 239, "lead": 0, "anchor": 175, "span": [0, 238], "moved": true, "ik_err_mm_max": 0.19, "ik_err_deg_max": 0.06, "plate_gap_cm": [-0.36, -4.41, 0.0]}, "info": {"success": true, "success_frame": 191, "goal_now": true, "frames": 192}, "watch": {"fastest": {"electroscope_plate": {"m_s": 0.249, "tick": 188}, "electroscope_stand": {"m_s": 0.0, "tick": 11}, "electroscope": {"m_s": 0.0, "tick": 202}, "electroscope_box": {"m_s": 0.016, "tick": 190}}, "robot_contacts": {}, "props": {"electroscope": {"moved_cm": 0.0, "moved_at": 102, "tilt_deg": 0.0, "tilt_at": 32}, "electroscope_box": {"moved_cm": 0.13, "moved_at": 192, "tilt_deg": 0.26, "tilt_at": 179}}, "hand": {"held_frac": 0.078, "taken": 178, "let_go": 0, "slip_cm": 0.32, "reach_min_cm": 0.01, "reach_min_at": 173, "grip_max_deg": -2.7, "rule_frac": 0.098, "rule_agree": 0.979, "first_close": {"at": 174, "reach_cm": 0.01, "tab_above_pads_cm": -0.0, "tab_from_pads_xy_cm": 0.01, "held": false}}}} |
| {"episode_index": 13, "task": "electroscope_pick", "local_episode_index": 13, "source": "code", "judged": {"code": true, "replay": false}, "start_id": 7, "draw": 1, "source_episode": 57, "start": {"id": 7, "reading": [43.1565, -30.5014, -7.1581, 109.2082, -24.2503, -18.0866, -6.1964, -41.0583, -43.3751, 30.0205, 6.6336, 109.6016, 24.294, 21.8242, 7.18, -64.4753], "objects": {"electroscope_plate": {"pos": [0.223623, -0.252458, 0.324873], "quat": [0.4385128, -0.4262341, 0.3746213, -0.6969145]}, "electroscope_stand": {"pos": [0.261512, -0.101533, 0.346518], "quat": [1.0, 0.0, 0.0, 0.0]}, "electroscope": {"pos": [0.2759, 0.0047, 0.229998], "quat": [1.0, 7.7e-06, -2.2e-06, 0.0]}, "electroscope_box": {"pos": [0.301301, -0.2584, 0.230002], "quat": [1.0, -6.9e-06, -3.29e-05, 6.1e-06]}}, "held": {"electroscope_plate": null}, "home": {"left": [0.27023, 0.29187, 0.43275], "right": [0.18465, -0.14519, 0.44095]}, "source": {"episode": 57, "frame": 0}, "command": [43.1347, -30.5014, -7.0926, 109.8202, -24.4688, -18.8298, -7.027, -47.1345, -43.0254, 30.7636, 7.0707, 110.2573, 24.9278, 21.8023, 7.639, -72.9038], "shift": {"plate": {"level": 2, "dx_cm": -0.08, "dy_cm": 1.3, "yaw_deg": 2.97, "axis": [0.22443, -0.26546]}}, "settle": {"max_depth_mm": 0.002, "pair": ["electroscope_box", "bench2_desk"], "soft_depth_mm": 0.0, "max_speed_mm_s": 0.085, "seconds": 0.1}, "draw": 1}, "frames": 159, "sentences": ["pick up the white charging plate"], "code": {"frames": 217, "lead": 0, "anchor": 141, "span": [0, 216], "moved": true, "ik_err_mm_max": 0.19, "ik_err_deg_max": 0.05, "plate_gap_cm": [-0.72, -4.98, -0.37]}, "info": {"success": true, "success_frame": 158, "goal_now": true, "frames": 159}, "watch": {"fastest": {"electroscope_plate": {"m_s": 0.301, "tick": 155}, "electroscope_stand": {"m_s": 0.0, "tick": 11}, "electroscope": {"m_s": 0.0, "tick": 169}, "electroscope_box": {"m_s": 0.005, "tick": 161}}, "robot_contacts": {}, "props": {"electroscope": {"moved_cm": 0.0, "moved_at": 102, "tilt_deg": 0.0, "tilt_at": 32}, "electroscope_box": {"moved_cm": 0.026, "moved_at": 152, "tilt_deg": 0.09, "tilt_at": 147}}, "hand": {"held_frac": 0.094, "taken": 145, "let_go": 0, "slip_cm": 0.24, "reach_min_cm": 0.01, "reach_min_at": 139, "grip_max_deg": -2.7, "rule_frac": 0.125, "rule_agree": 0.969, "first_close": {"at": 140, "reach_cm": 0.01, "tab_above_pads_cm": -0.0, "tab_from_pads_xy_cm": 0.01, "held": false}}}} |
| {"episode_index": 14, "task": "electroscope_pick", "local_episode_index": 14, "source": "code", "judged": {"code": true, "replay": false}, "start_id": 8, "draw": 1, "source_episode": 58, "start": {"id": 8, "reading": [43.1565, -30.3265, -6.9396, 109.0989, -24.0098, -21.1029, 1.4753, -39.3097, -43.0472, 30.0205, 6.3932, 109.0989, 24.0536, 22.2176, 8.6444, -64.4753], "objects": {"electroscope_plate": {"pos": [0.235922, -0.256942, 0.324877], "quat": [0.5072117, -0.4622109, 0.3292366, -0.6486144]}, "electroscope_stand": {"pos": [0.245091, -0.103028, 0.349579], "quat": [1.0, 0.0, 0.0, 0.0]}, "electroscope": {"pos": [0.2759, 0.0047, 0.229998], "quat": [1.0, 7.7e-06, -2.2e-06, 0.0]}, "electroscope_box": {"pos": [0.301301, -0.2584, 0.230001], "quat": [1.0, -8e-06, -2.38e-05, 6.4e-06]}}, "held": {"electroscope_plate": null}, "home": {"left": [0.2172, 0.22959, 0.42241], "right": [0.20206, -0.12875, 0.45949]}, "source": {"episode": 58, "frame": 0}, "command": [43.1347, -30.3265, -7.0051, 109.4486, -24.294, -21.1466, 3.0272, -45.1892, -43.0035, 30.5888, 7.0489, 110.301, 24.6874, 22.0646, 8.1854, -72.9257], "shift": {"plate": {"level": 2, "dx_cm": -0.25, "dy_cm": 1.74, "yaw_deg": 9.56, "axis": [0.23842, -0.27434]}}, "settle": {"max_depth_mm": 0.002, "pair": ["electroscope_box", "bench2_desk"], "soft_depth_mm": 0.0, "max_speed_mm_s": 0.085, "seconds": 0.1}, "draw": 1}, "frames": 143, "sentences": ["pick up the white charging plate"], "code": {"frames": 232, "lead": 0, "anchor": 122, "span": [0, 231], "moved": true, "ik_err_mm_max": 0.19, "ik_err_deg_max": 0.05, "plate_gap_cm": [0.75, -5.22, -0.68]}, "info": {"success": true, "success_frame": 142, "goal_now": true, "frames": 143}, "watch": {"fastest": {"electroscope_plate": {"m_s": 0.234, "tick": 140}, "electroscope_stand": {"m_s": 0.0, "tick": 11}, "electroscope": {"m_s": 0.0, "tick": 153}, "electroscope_box": {"m_s": 0.005, "tick": 145}}, "robot_contacts": {}, "props": {"electroscope": {"moved_cm": 0.0, "moved_at": 102, "tilt_deg": 0.0, "tilt_at": 32}, "electroscope_box": {"moved_cm": 0.02, "moved_at": 137, "tilt_deg": 0.09, "tilt_at": 134}}, "hand": {"held_frac": 0.104, "taken": 129, "let_go": 0, "slip_cm": 0.78, "reach_min_cm": 0.01, "reach_min_at": 121, "grip_max_deg": -2.7, "rule_frac": 0.16, "rule_agree": 0.944, "first_close": {"at": 121, "reach_cm": 0.01, "tab_above_pads_cm": 0.01, "tab_from_pads_xy_cm": 0.01, "held": false}}}} |
| {"episode_index": 15, "task": "electroscope_pick", "local_episode_index": 15, "source": "code", "judged": {"code": true, "replay": false}, "start_id": 9, "draw": 1, "source_episode": 59, "start": {"id": 9, "reading": [43.0035, -30.6325, -6.9396, 108.8803, -24.0536, -20.6439, -1.9562, -51.7244, -43.2221, 30.0205, 6.721, 109.9076, 24.0536, 21.6274, 6.3494, -64.4753], "objects": {"electroscope_plate": {"pos": [0.25294, -0.248015, 0.325321], "quat": [0.5299872, -0.4758822, 0.3097137, -0.6298628]}, "electroscope_stand": {"pos": [0.25264, -0.083552, 0.349046], "quat": [1.0, 0.0, 0.0, 0.0]}, "electroscope": {"pos": [0.2759, 0.0047, 0.229998], "quat": [1.0, 7.7e-06, -2.2e-06, 0.0]}, "electroscope_box": {"pos": [0.3013, -0.2584, 0.23], "quat": [1.0, -7.1e-06, -1.38e-05, 6.6e-06]}}, "held": {"electroscope_plate": null}, "home": {"left": [0.21419, 0.22854, 0.44152], "right": [0.17738, -0.1486, 0.43282]}, "source": {"episode": 59, "frame": 0}, "command": [42.9598, -30.4795, -7.1144, 110.1918, -24.1847, -20.0537, -3.049, -57.4291, -43.0254, 30.6325, 7.0926, 110.76, 20.928, 22.3706, 6.1309, -72.882], "shift": {"plate": {"level": 2, "dx_cm": 1.74, "dy_cm": 2.37, "yaw_deg": 8.76, "axis": [0.23554, -0.27167]}}, "settle": {"max_depth_mm": 0.003, "pair": ["electroscope_box", "electroscope_plate_tab"], "soft_depth_mm": 0.0, "max_speed_mm_s": 0.085, "seconds": 0.1}, "draw": 1}, "frames": 131, "sentences": ["pick up the white charging plate"], "code": {"frames": 203, "lead": 0, "anchor": 114, "span": [0, 202], "moved": true, "ik_err_mm_max": 0.2, "ik_err_deg_max": 0.06, "plate_gap_cm": [0.53, -6.05, -0.33]}, "info": {"success": true, "success_frame": 130, "goal_now": true, "frames": 131}, "watch": {"fastest": {"electroscope_plate": {"m_s": 0.219, "tick": 128}, "electroscope_stand": {"m_s": 0.0, "tick": 11}, "electroscope": {"m_s": 0.0, "tick": 141}, "electroscope_box": {"m_s": 0.002, "tick": 130}}, "robot_contacts": {}, "props": {"electroscope": {"moved_cm": 0.0, "moved_at": 102, "tilt_deg": 0.0, "tilt_at": 32}, "electroscope_box": {"moved_cm": 0.014, "moved_at": 126, "tilt_deg": 0.1, "tilt_at": 118}}, "hand": {"held_frac": 0.114, "taken": 117, "let_go": 0, "slip_cm": 0.81, "reach_min_cm": 0.0, "reach_min_at": 114, "grip_max_deg": -2.2, "rule_frac": 0.136, "rule_agree": 0.977, "first_close": {"at": 114, "reach_cm": 0.0, "tab_above_pads_cm": -0.0, "tab_from_pads_xy_cm": 0.0, "held": false}}}} |
| {"episode_index": 16, "task": "electroscope_pick", "local_episode_index": 16, "source": "code", "judged": {"code": true, "replay": false}, "start_id": 2, "draw": 2, "source_episode": 52, "start": {"id": 2, "reading": [43.0035, -30.1735, -7.0489, 109.7109, -23.8131, -20.1849, 3.4643, -33.4739, -43.5281, 29.4959, 6.3057, 109.8202, 24.2721, 21.8242, 7.0051, -64.4752], "objects": {"electroscope_plate": {"pos": [0.198731, -0.283637, 0.330367], "quat": [0.3734304, -0.3898467, 0.4109661, -0.7346265]}, "electroscope_stand": {"pos": [0.255869, -0.158245, 0.348861], "quat": [1.0, 0.0, 0.0, 0.0]}, "electroscope": {"pos": [0.2759, 0.0047, 0.229998], "quat": [1.0, 7.7e-06, -2.2e-06, 0.0]}, "electroscope_box": {"pos": [0.3013, -0.2584, 0.230002], "quat": [1.0, 1.8e-06, -3.89e-05, 4e-07]}}, "held": {"electroscope_plate": null}, "home": {"left": [0.202, 0.1518, 0.44552], "right": [0.18169, -0.11187, 0.43506]}, "source": {"episode": 52, "frame": 0}, "command": [42.9817, -30.1954, -6.9396, 110.301, -24.1191, -20.2723, 3.049, -39.6594, -43.0035, 29.6271, 6.7866, 110.5196, 24.7093, 21.8679, 7.6171, -72.9257], "shift": {"plate": {"level": 2, "dx_cm": -2.49, "dy_cm": -1.26, "yaw_deg": -7.36, "axis": [0.22362, -0.27102]}}, "settle": {"max_depth_mm": 0.002, "pair": ["electroscope_box", "bench2_desk"], "soft_depth_mm": 1.464, "max_speed_mm_s": 2.158, "seconds": 0.1}, "draw": 2}, "frames": 128, "sentences": ["pick up the white charging plate"], "code": {"frames": 172, "lead": 0, "anchor": 111, "span": [0, 171], "moved": true, "ik_err_mm_max": 0.2, "ik_err_deg_max": 0.05, "plate_gap_cm": [-0.5, -3.67, 0.29]}, "info": {"success": true, "success_frame": 127, "goal_now": true, "frames": 128}, "watch": {"fastest": {"electroscope_plate": {"m_s": 0.393, "tick": 124}, "electroscope_stand": {"m_s": 0.0, "tick": 11}, "electroscope": {"m_s": 0.0, "tick": 138}, "electroscope_box": {"m_s": 0.002, "tick": 128}}, "robot_contacts": {}, "props": {"electroscope": {"moved_cm": 0.0, "moved_at": 102, "tilt_deg": 0.0, "tilt_at": 32}, "electroscope_box": {"moved_cm": 0.032, "moved_at": 128, "tilt_deg": 0.09, "tilt_at": 128}}, "hand": {"held_frac": 0.116, "taken": 114, "let_go": 0, "slip_cm": 0.18, "reach_min_cm": 0.02, "reach_min_at": 111, "grip_max_deg": -2.4, "rule_frac": 0.147, "rule_agree": 0.969, "first_close": {"at": 110, "reach_cm": 0.04, "tab_above_pads_cm": -0.0, "tab_from_pads_xy_cm": 0.04, "held": false}}}} |
| {"episode_index": 17, "task": "electroscope_pick", "local_episode_index": 17, "source": "code", "judged": {"code": true, "replay": false}, "start_id": 3, "draw": 2, "source_episode": 53, "start": {"id": 3, "reading": [43.0035, -30.5014, -7.0489, 108.8803, -24.0317, -19.7696, -1.9125, -31.3319, -42.8942, 30.0205, 6.6773, 110.454, 24.0754, 21.6274, 6.9833, -64.4753], "objects": {"electroscope_plate": {"pos": [0.265851, -0.276562, 0.324995], "quat": [0.549809, -0.4839259, 0.2976684, -0.6123065]}, "electroscope_stand": {"pos": [0.258611, -0.116316, 0.341699], "quat": [1.0, 0.0, 0.0, 0.0]}, "electroscope": {"pos": [0.2759, 0.0047, 0.229998], "quat": [1.0, 7.7e-06, -2.2e-06, 0.0]}, "electroscope_box": {"pos": [0.3013, -0.2584, 0.23], "quat": [1.0, 5e-06, -1.14e-05, 2.6e-06]}}, "held": {"electroscope_plate": null}, "home": {"left": [0.24678, 0.2422, 0.43439], "right": [0.17963, -0.13012, 0.42504]}, "source": {"episode": 53, "frame": 0}, "command": [42.9817, -30.5014, -7.0051, 110.1918, -24.2284, -18.9828, -2.4589, -37.4956, -43.0035, 30.4358, 7.0707, 110.7819, 24.6874, 21.4307, 7.8139, -72.9038], "shift": {"plate": {"level": 2, "dx_cm": 2.71, "dy_cm": 0.53, "yaw_deg": 10.0, "axis": [0.23877, -0.28186]}}, "settle": {"max_depth_mm": 0.025, "pair": ["electroscope_box", "electroscope_plate_tab"], "soft_depth_mm": 2.297, "max_speed_mm_s": 0.085, "seconds": 0.1}, "draw": 2}, "frames": 150, "sentences": ["pick up the white charging plate"], "code": {"frames": 195, "lead": 0, "anchor": 129, "span": [0, 194], "moved": true, "ik_err_mm_max": 0.2, "ik_err_deg_max": 0.06, "plate_gap_cm": [0.98, -5.92, 0.49]}, "info": {"success": true, "success_frame": 149, "goal_now": true, "frames": 150}, "watch": {"fastest": {"electroscope_plate": {"m_s": 0.162, "tick": 145}, "electroscope_stand": {"m_s": 0.0, "tick": 11}, "electroscope": {"m_s": 0.0, "tick": 160}, "electroscope_box": {"m_s": 0.353, "tick": 146}}, "robot_contacts": {"electroscope_box": {"s": 0.208, "max_n": 52.98, "rim_s": 0.0, "parts": ["right_left_finger", "right_right_finger"]}}, "props": {"electroscope": {"moved_cm": 0.0, "moved_at": 102, "tilt_deg": 0.0, "tilt_at": 32}, "electroscope_box": {"moved_cm": 1.9, "moved_at": 136, "tilt_deg": 9.47, "tilt_at": 136}}, "hand": {"held_frac": 0.099, "taken": 136, "let_go": 0, "slip_cm": 0.42, "reach_min_cm": 0.01, "reach_min_at": 129, "grip_max_deg": -2.6, "rule_frac": 0.152, "rule_agree": 0.947, "first_close": {"at": 128, "reach_cm": 0.12, "tab_above_pads_cm": 0.03, "tab_from_pads_xy_cm": 0.11, "held": false}}}} |
| {"episode_index": 18, "task": "electroscope_pick", "local_episode_index": 18, "source": "code", "judged": {"code": true, "replay": false}, "start_id": 4, "draw": 2, "source_episode": 54, "start": {"id": 4, "reading": [43.0035, -30.7855, -6.721, 109.1645, -23.8787, -21.0592, -5.7812, -30.8948, -43.2002, 30.0205, 6.3494, 110.148, 23.4416, 21.7804, 7.3767, -64.4753], "objects": {"electroscope_plate": {"pos": [0.213617, -0.294503, 0.330157], "quat": [0.4706832, -0.4433905, 0.3529179, -0.6762478]}, "electroscope_stand": {"pos": [0.225197, -0.150784, 0.350663], "quat": [1.0, 0.0, 0.0, 0.0]}, "electroscope": {"pos": [0.2759, 0.0047, 0.229998], "quat": [1.0, 7.7e-06, -2.2e-06, 0.0]}, "electroscope_box": {"pos": [0.3013, -0.2584, 0.230002], "quat": [1.0, 8e-07, -4.28e-05, 7e-07]}}, "held": {"electroscope_plate": null}, "home": {"left": [0.27018, 0.19136, 0.44648], "right": [0.18181, -0.14852, 0.45113]}, "source": {"episode": 54, "frame": 0}, "command": [43.1347, -30.5014, -6.9833, 109.995, -24.6874, -21.1466, -7.5297, -37.124, -43.0254, 30.3046, 7.0489, 110.4759, 24.7311, 21.6056, 8.0106, -72.9257], "shift": {"plate": {"level": 2, "dx_cm": -1.74, "dy_cm": -2.11, "yaw_deg": 6.11, "axis": [0.231, -0.27337]}}, "settle": {"max_depth_mm": 0.002, "pair": ["electroscope_box", "bench2_desk"], "soft_depth_mm": 1.797, "max_speed_mm_s": 0.307, "seconds": 0.1}, "draw": 2}, "frames": 148, "sentences": ["pick up the white charging plate"], "code": {"frames": 214, "lead": 0, "anchor": 131, "span": [0, 213], "moved": true, "ik_err_mm_max": 0.2, "ik_err_deg_max": 0.05, "plate_gap_cm": [0.75, -3.94, 0.22]}, "info": {"success": true, "success_frame": 147, "goal_now": true, "frames": 148}, "watch": {"fastest": {"electroscope_plate": {"m_s": 0.445, "tick": 144}, "electroscope_stand": {"m_s": 0.0, "tick": 11}, "electroscope": {"m_s": 0.0, "tick": 158}, "electroscope_box": {"m_s": 0.002, "tick": 154}}, "robot_contacts": {}, "props": {"electroscope": {"moved_cm": 0.0, "moved_at": 102, "tilt_deg": 0.0, "tilt_at": 32}, "electroscope_box": {"moved_cm": 0.013, "moved_at": 147, "tilt_deg": 0.09, "tilt_at": 136}}, "hand": {"held_frac": 0.101, "taken": 134, "let_go": 0, "slip_cm": 0.36, "reach_min_cm": 0.03, "reach_min_at": 128, "grip_max_deg": -2.5, "rule_frac": 0.128, "rule_agree": 0.973, "first_close": {"at": 130, "reach_cm": 0.03, "tab_above_pads_cm": 0.02, "tab_from_pads_xy_cm": 0.02, "held": false}}}} |
| {"episode_index": 19, "task": "electroscope_pick", "local_episode_index": 19, "source": "code", "judged": {"code": true, "replay": false}, "start_id": 5, "draw": 2, "source_episode": 55, "start": {"id": 5, "reading": [43.0035, -30.5014, -7.1581, 109.842, -23.8787, -20.6002, -3.6392, -36.2716, -42.8942, 30.1735, 6.3057, 110.4103, 24.0536, 21.846, 7.3986, -63.3624], "objects": {"electroscope_plate": {"pos": [0.236228, -0.269715, 0.324985], "quat": [0.3962657, -0.403487, 0.4000641, -0.7211938]}, "electroscope_stand": {"pos": [0.310842, -0.118424, 0.349524], "quat": [1.0, 0.0, 0.0, 0.0]}, "electroscope": {"pos": [0.2759, 0.0047, 0.229998], "quat": [1.0, 7.7e-06, -2.2e-06, 0.0]}, "electroscope_box": {"pos": [0.3013, -0.258399, 0.23], "quat": [1.0, 5.1e-06, -1.08e-05, -3e-07]}}, "held": {"electroscope_plate": null}, "home": {"left": [0.23351, 0.18311, 0.4498], "right": [0.17841, -0.09993, 0.45426]}, "source": {"episode": 55, "frame": 0}, "command": [42.9817, -30.3484, -7.1144, 110.301, -24.2284, -20.5127, -2.4589, -42.2167, -43.0035, 30.5888, 6.8303, 110.6289, 24.6874, 21.8679, 8.0106, -65.4943], "shift": {"plate": {"level": 2, "dx_cm": 0.85, "dy_cm": -0.35, "yaw_deg": -7.92, "axis": [0.22774, -0.26622]}}, "settle": {"max_depth_mm": 0.017, "pair": ["electroscope_box", "electroscope_plate_tab"], "soft_depth_mm": 2.099, "max_speed_mm_s": 0.085, "seconds": 0.1}, "draw": 2}, "frames": 143, "sentences": ["pick up the white charging plate"], "code": {"frames": 198, "lead": 0, "anchor": 125, "span": [0, 197], "moved": true, "ik_err_mm_max": 0.18, "ik_err_deg_max": 0.05, "plate_gap_cm": [-2.57, -6.26, -0.24]}, "info": {"success": true, "success_frame": 142, "goal_now": true, "frames": 143}, "watch": {"fastest": {"electroscope_plate": {"m_s": 0.123, "tick": 141}, "electroscope_stand": {"m_s": 0.0, "tick": 11}, "electroscope": {"m_s": 0.0, "tick": 153}, "electroscope_box": {"m_s": 0.009, "tick": 152}}, "robot_contacts": {}, "props": {"electroscope": {"moved_cm": 0.0, "moved_at": 102, "tilt_deg": 0.0, "tilt_at": 32}, "electroscope_box": {"moved_cm": 0.09, "moved_at": 143, "tilt_deg": 0.13, "tilt_at": 130}}, "hand": {"held_frac": 0.104, "taken": 129, "let_go": 0, "slip_cm": 0.81, "reach_min_cm": 0.0, "reach_min_at": 123, "grip_max_deg": -2.6, "rule_frac": 0.132, "rule_agree": 0.972, "first_close": {"at": 125, "reach_cm": 0.0, "tab_above_pads_cm": 0.0, "tab_from_pads_xy_cm": 0.0, "held": false}}}} |
| {"episode_index": 20, "task": "electroscope_pick", "local_episode_index": 20, "source": "code", "judged": {"code": true, "replay": false}, "start_id": 6, "draw": 2, "source_episode": 56, "start": {"id": 6, "reading": [42.8724, -28.5779, -7.5079, 109.3612, -20.3816, -18.3052, -4.9506, -40.796, -43.0691, 30.1735, 7.027, 109.8639, 24.0973, 21.234, 9.169, -64.4753], "objects": {"electroscope_plate": {"pos": [0.229338, -0.256524, 0.324867], "quat": [0.4797246, -0.4479646, 0.3483402, -0.6692168]}, "electroscope_stand": {"pos": [0.245522, -0.107853, 0.349008], "quat": [1.0, 0.0, 0.0, 0.0]}, "electroscope": {"pos": [0.2759, 0.0047, 0.229998], "quat": [1.0, 7.7e-06, -2.2e-06, 0.0]}, "electroscope_box": {"pos": [0.301301, -0.2584, 0.230002], "quat": [1.0, -7.7e-06, -3.46e-05, 6.4e-06]}}, "held": {"electroscope_plate": null}, "home": {"left": [0.18183, 0.19688, 0.45209], "right": [0.20798, -0.15837, 0.45245]}, "source": {"episode": 56, "frame": 0}, "command": [42.9817, -28.2938, -7.2674, 110.301, -20.9499, -18.8079, -4.426, -46.5006, -43.0035, 30.7855, 7.1363, 110.5196, 24.8841, 21.0373, 10.8083, -72.9257], "shift": {"plate": {"level": 2, "dx_cm": 0.16, "dy_cm": 0.97, "yaw_deg": 5.8, "axis": [0.22774, -0.26622]}}, "settle": {"max_depth_mm": 0.002, "pair": ["electroscope_box", "bench2_desk"], "soft_depth_mm": 0.0, "max_speed_mm_s": 0.085, "seconds": 0.1}, "draw": 2}, "frames": 192, "sentences": ["pick up the white charging plate"], "code": {"frames": 239, "lead": 0, "anchor": 175, "span": [0, 238], "moved": true, "ik_err_mm_max": 0.19, "ik_err_deg_max": 0.06, "plate_gap_cm": [0.11, -4.42, -0.0]}, "info": {"success": true, "success_frame": 191, "goal_now": true, "frames": 192}, "watch": {"fastest": {"electroscope_plate": {"m_s": 0.457, "tick": 188}, "electroscope_stand": {"m_s": 0.0, "tick": 11}, "electroscope": {"m_s": 0.0, "tick": 202}, "electroscope_box": {"m_s": 0.004, "tick": 190}}, "robot_contacts": {}, "props": {"electroscope": {"moved_cm": 0.0, "moved_at": 102, "tilt_deg": 0.0, "tilt_at": 32}, "electroscope_box": {"moved_cm": 0.022, "moved_at": 183, "tilt_deg": 0.09, "tilt_at": 186}}, "hand": {"held_frac": 0.078, "taken": 178, "let_go": 0, "slip_cm": 0.37, "reach_min_cm": 0.01, "reach_min_at": 173, "grip_max_deg": -2.7, "rule_frac": 0.098, "rule_agree": 0.979, "first_close": {"at": 174, "reach_cm": 0.01, "tab_above_pads_cm": -0.0, "tab_from_pads_xy_cm": 0.01, "held": false}}}} |
| {"episode_index": 21, "task": "electroscope_pick", "local_episode_index": 21, "source": "code", "judged": {"code": true, "replay": false}, "start_id": 7, "draw": 2, "source_episode": 57, "start": {"id": 7, "reading": [43.1565, -30.5014, -7.1581, 109.2082, -24.2503, -18.0866, -6.1964, -41.0583, -43.3751, 30.0205, 6.6336, 109.6016, 24.294, 21.8242, 7.18, -64.4753], "objects": {"electroscope_plate": {"pos": [0.229423, -0.261445, 0.324834], "quat": [0.4274367, -0.4197057, 0.382145, -0.7036407]}, "electroscope_stand": {"pos": [0.272217, -0.11185, 0.346518], "quat": [1.0, 0.0, 0.0, 0.0]}, "electroscope": {"pos": [0.2759, 0.0047, 0.229998], "quat": [1.0, 7.7e-06, -2.2e-06, 0.0]}, "electroscope_box": {"pos": [0.3013, -0.2584, 0.230001], "quat": [1.0, 1.6e-06, -3.02e-05, 1.6e-06]}}, "held": {"electroscope_plate": null}, "home": {"left": [0.27023, 0.29187, 0.43275], "right": [0.18465, -0.14519, 0.44095]}, "source": {"episode": 57, "frame": 0}, "command": [43.1347, -30.5014, -7.0926, 109.8202, -24.4688, -18.8298, -7.027, -47.1345, -43.0254, 30.7636, 7.0707, 110.2573, 24.9278, 21.8023, 7.639, -72.9038], "shift": {"plate": {"level": 2, "dx_cm": 0.5, "dy_cm": 0.4, "yaw_deg": 1.1, "axis": [0.22443, -0.26546]}}, "settle": {"max_depth_mm": 0.009, "pair": ["electroscope_plate_disc", "electroscope_box"], "soft_depth_mm": 2.011, "max_speed_mm_s": 0.085, "seconds": 0.1}, "draw": 2}, "frames": 159, "sentences": ["pick up the white charging plate"], "code": {"frames": 217, "lead": 0, "anchor": 141, "span": [0, 216], "moved": true, "ik_err_mm_max": 0.19, "ik_err_deg_max": 0.04, "plate_gap_cm": [-0.88, -4.96, -0.37]}, "info": {"success": true, "success_frame": 158, "goal_now": true, "frames": 159}, "watch": {"fastest": {"electroscope_plate": {"m_s": 0.148, "tick": 155}, "electroscope_stand": {"m_s": 0.0, "tick": 11}, "electroscope": {"m_s": 0.0, "tick": 169}, "electroscope_box": {"m_s": 0.005, "tick": 156}}, "robot_contacts": {}, "props": {"electroscope": {"moved_cm": 0.0, "moved_at": 102, "tilt_deg": 0.0, "tilt_at": 32}, "electroscope_box": {"moved_cm": 0.059, "moved_at": 158, "tilt_deg": 0.13, "tilt_at": 156}}, "hand": {"held_frac": 0.094, "taken": 145, "let_go": 0, "slip_cm": 0.28, "reach_min_cm": 0.01, "reach_min_at": 139, "grip_max_deg": -2.6, "rule_frac": 0.125, "rule_agree": 0.969, "first_close": {"at": 140, "reach_cm": 0.01, "tab_above_pads_cm": -0.0, "tab_from_pads_xy_cm": 0.01, "held": false}}}} |
| {"episode_index": 22, "task": "electroscope_pick", "local_episode_index": 22, "source": "code", "judged": {"code": true, "replay": false}, "start_id": 8, "draw": 2, "source_episode": 58, "start": {"id": 8, "reading": [43.1565, -30.3265, -6.9396, 109.0989, -24.0098, -21.1029, 1.4753, -39.3097, -43.0472, 30.0205, 6.3932, 109.0989, 24.0536, 22.2176, 8.6444, -64.4753], "objects": {"electroscope_plate": {"pos": [0.261409, -0.263024, 0.324949], "quat": [0.4746262, -0.4454799, 0.3527723, -0.6721826]}, "electroscope_stand": {"pos": [0.285753, -0.110787, 0.349579], "quat": [1.0, 0.0, 0.0, 0.0]}, "electroscope": {"pos": [0.2759, 0.0047, 0.229998], "quat": [1.0, 7.7e-06, -2.2e-06, 0.0]}, "electroscope_box": {"pos": [0.3013, -0.2584, 0.229998], "quat": [1.0, 2.1e-06, -3.8e-06, 6e-07]}}, "held": {"electroscope_plate": null}, "home": {"left": [0.2172, 0.22959, 0.42241], "right": [0.20206, -0.12875, 0.45949]}, "source": {"episode": 58, "frame": 0}, "command": [43.1347, -30.3265, -7.0051, 109.4486, -24.294, -21.1466, 3.0272, -45.1892, -43.0035, 30.5888, 7.0489, 110.301, 24.6874, 22.0646, 8.1854, -72.9257], "shift": {"plate": {"level": 2, "dx_cm": 2.3, "dy_cm": 1.13, "yaw_deg": 3.89, "axis": [0.23842, -0.27434]}}, "settle": {"max_depth_mm": 0.012, "pair": ["electroscope_box", "electroscope_plate_tab"], "soft_depth_mm": 2.05, "max_speed_mm_s": 0.085, "seconds": 0.1}, "draw": 2}, "frames": 144, "sentences": ["pick up the white charging plate"], "code": {"frames": 232, "lead": 0, "anchor": 122, "span": [0, 231], "moved": true, "ik_err_mm_max": 0.17, "ik_err_deg_max": 0.05, "plate_gap_cm": [0.23, -5.27, -0.66]}, "info": {"success": true, "success_frame": 143, "goal_now": true, "frames": 144}, "watch": {"fastest": {"electroscope_plate": {"m_s": 0.236, "tick": 114}, "electroscope_stand": {"m_s": 0.0, "tick": 11}, "electroscope": {"m_s": 0.0, "tick": 154}, "electroscope_box": {"m_s": 0.222, "tick": 115}}, "robot_contacts": {"electroscope_box": {"s": 0.01, "max_n": 14.96, "rim_s": 0.0, "parts": ["right_right_finger"]}}, "props": {"electroscope": {"moved_cm": 0.0, "moved_at": 102, "tilt_deg": 0.0, "tilt_at": 32}, "electroscope_box": {"moved_cm": 1.132, "moved_at": 144, "tilt_deg": 1.93, "tilt_at": 104}}, "hand": {"held_frac": 0.103, "taken": 130, "let_go": 0, "slip_cm": 0.44, "reach_min_cm": 0.52, "reach_min_at": 103, "grip_max_deg": -1.4, "rule_frac": 0.166, "rule_agree": 0.938, "first_close": {"at": 121, "reach_cm": 1.47, "tab_above_pads_cm": 0.01, "tab_from_pads_xy_cm": 1.47, "held": false}}}} |
| {"episode_index": 23, "task": "electroscope_pick", "local_episode_index": 23, "source": "code", "judged": {"code": true, "replay": false}, "start_id": 9, "draw": 2, "source_episode": 59, "start": {"id": 9, "reading": [43.0035, -30.6325, -6.9396, 108.8803, -24.0536, -20.6439, -1.9562, -51.7244, -43.2221, 30.0205, 6.721, 109.9076, 24.0536, 21.6274, 6.3494, -64.4753], "objects": {"electroscope_plate": {"pos": [0.236338, -0.273866, 0.324853], "quat": [0.4267676, -0.4196898, 0.3820528, -0.7041063]}, "electroscope_stand": {"pos": [0.286779, -0.117379, 0.349046], "quat": [1.0, 0.0, 0.0, 0.0]}, "electroscope": {"pos": [0.2759, 0.0047, 0.229998], "quat": [1.0, 7.7e-06, -2.2e-06, 0.0]}, "electroscope_box": {"pos": [0.3013, -0.258399, 0.229999], "quat": [1.0, 2.7e-06, -1.24e-05, 1.4e-06]}}, "held": {"electroscope_plate": null}, "home": {"left": [0.21419, 0.22854, 0.44152], "right": [0.17738, -0.1486, 0.43282]}, "source": {"episode": 59, "frame": 0}, "command": [42.9598, -30.4795, -7.1144, 110.1918, -24.1847, -20.0537, -3.049, -57.4291, -43.0254, 30.6325, 7.0926, 110.76, 20.928, 22.3706, 6.1309, -72.882], "shift": {"plate": {"level": 2, "dx_cm": 0.08, "dy_cm": -0.22, "yaw_deg": -9.21, "axis": [0.23554, -0.27167]}}, "settle": {"max_depth_mm": 0.01, "pair": ["electroscope_plate_disc", "electroscope_box"], "soft_depth_mm": 2.009, "max_speed_mm_s": 0.085, "seconds": 0.1}, "draw": 2}, "frames": 131, "sentences": ["pick up the white charging plate"], "code": {"frames": 203, "lead": 0, "anchor": 114, "span": [0, 202], "moved": true, "ik_err_mm_max": 0.19, "ik_err_deg_max": 0.04, "plate_gap_cm": [-1.36, -5.92, -0.34]}, "info": {"success": true, "success_frame": 130, "goal_now": true, "frames": 131}, "watch": {"fastest": {"electroscope_plate": {"m_s": 0.167, "tick": 128}, "electroscope_stand": {"m_s": 0.0, "tick": 11}, "electroscope": {"m_s": 0.0, "tick": 141}, "electroscope_box": {"m_s": 0.008, "tick": 128}}, "robot_contacts": {}, "props": {"electroscope": {"moved_cm": 0.0, "moved_at": 102, "tilt_deg": 0.0, "tilt_at": 32}, "electroscope_box": {"moved_cm": 0.031, "moved_at": 123, "tilt_deg": 0.07, "tilt_at": 122}}, "hand": {"held_frac": 0.114, "taken": 117, "let_go": 0, "slip_cm": 0.67, "reach_min_cm": 0.0, "reach_min_at": 114, "grip_max_deg": -2.2, "rule_frac": 0.136, "rule_agree": 0.977, "first_close": {"at": 114, "reach_cm": 0.0, "tab_above_pads_cm": -0.0, "tab_from_pads_xy_cm": 0.0, "held": false}}}} |
| {"episode_index": 24, "task": "electroscope_pick_look", "local_episode_index": 0, "source": "code", "judged": {"replay": false, "code": true}, "start_id": 1, "draw": null, "source_episode": 51, "start": {"id": 1, "reading": [42.8505, -30.6325, -7.027, 109.4049, -23.9006, -20.2067, 8.3821, -34.3919, -41.9325, 31.7472, 6.9177, 106.0389, 16.3381, 35.6159, 12.9939, -64.4753], "objects": {"electroscope_plate": {"pos": [0.227738, -0.266213, 0.324828], "quat": [0.4455462, -0.4294662, 0.3710682, -0.6923552]}, "electroscope_stand": {"pos": [0.267102, -0.112098, 0.348549], "quat": [1.0, 0.0, 0.0, 0.0]}, "electroscope": {"pos": [0.2759, 0.0047, 0.229998], "quat": [1.0, 7.7e-06, -2.2e-06, 0.0]}, "electroscope_box": {"pos": [0.3013, -0.2584, 0.230001], "quat": [1.0, 1.4e-06, -3.25e-05, 1.6e-06]}}, "held": {"electroscope_plate": null}, "home": {"left": [0.25557, 0.23088, 0.41323], "right": [0.22482, -0.15909, 0.42691]}, "source": {"episode": 51, "frame": 0}, "command": [42.6757, -30.3484, -7.0926, 110.2792, -24.447, -20.3379, 7.3549, -40.7085, -42.0637, 31.7253, 6.9177, 106.2356, 15.8572, 35.3973, 13.6278, -72.9038], "variant": {"electroscope_plate": "white"}, "settle": {"max_depth_mm": 0.01, "pair": ["electroscope_plate_disc", "electroscope_box"], "soft_depth_mm": 2.011, "max_speed_mm_s": 0.085, "seconds": 0.1}}, "frames": 148, "sentences": ["pick up the white charging plate"], "code": {"frames": 202, "lead": 0, "anchor": 131, "span": [0, 201], "moved": true, "ik_err_mm_max": 0.19, "ik_err_deg_max": 0.04, "plate_gap_cm": [-0.81, -5.45, -0.47]}, "info": {"success": true, "success_frame": 147, "goal_now": true, "frames": 148}, "watch": {"fastest": {"electroscope_plate": {"m_s": 0.228, "tick": 145}, "electroscope_stand": {"m_s": 0.0, "tick": 11}, "electroscope": {"m_s": 0.0, "tick": 158}, "electroscope_box": {"m_s": 0.019, "tick": 148}}, "robot_contacts": {}, "props": {"electroscope": {"moved_cm": 0.0, "moved_at": 102, "tilt_deg": 0.0, "tilt_at": 32}, "electroscope_box": {"moved_cm": 0.133, "moved_at": 146, "tilt_deg": 0.2, "tilt_at": 136}}, "hand": {"held_frac": 0.101, "taken": 134, "let_go": 0, "slip_cm": 0.94, "reach_min_cm": 0.01, "reach_min_at": 130, "grip_max_deg": -2.8, "rule_frac": 0.121, "rule_agree": 0.98, "first_close": {"at": 131, "reach_cm": 0.01, "tab_above_pads_cm": -0.0, "tab_from_pads_xy_cm": 0.01, "held": false}}}} |
| {"episode_index": 25, "task": "electroscope_pick_look", "local_episode_index": 1, "source": "code", "judged": {"replay": false, "code": true}, "start_id": 2, "draw": null, "source_episode": 52, "start": {"id": 2, "reading": [43.0035, -30.1735, -7.0489, 109.7109, -23.8131, -20.1849, 3.4643, -33.4739, -43.5281, 29.4959, 6.3057, 109.8202, 24.2721, 21.8242, 7.0051, -64.4752], "objects": {"electroscope_plate": {"pos": [0.223617, -0.27101, 0.324835], "quat": [0.4199411, -0.4156451, 0.3865699, -0.708133]}, "electroscope_stand": {"pos": [0.264237, -0.139357, 0.348861], "quat": [1.0, 0.0, 0.0, 0.0]}, "electroscope": {"pos": [0.2759, 0.0047, 0.229998], "quat": [1.0, 7.7e-06, -2.2e-06, 0.0]}, "electroscope_box": {"pos": [0.3013, -0.258399, 0.230001], "quat": [1.0, 4.4e-06, -2.47e-05, 7e-07]}}, "held": {"electroscope_plate": null}, "home": {"left": [0.202, 0.1518, 0.44552], "right": [0.18169, -0.11187, 0.43506]}, "source": {"episode": 52, "frame": 0}, "command": [42.9817, -30.1954, -6.9396, 110.301, -24.1191, -20.2723, 3.049, -39.6594, -43.0035, 29.6271, 6.7866, 110.5196, 24.7093, 21.8679, 7.6171, -72.9257], "variant": {"electroscope_plate": "grey"}, "settle": {"max_depth_mm": 0.01, "pair": ["electroscope_plate_disc", "electroscope_box"], "soft_depth_mm": 2.03, "max_speed_mm_s": 0.085, "seconds": 0.1}}, "frames": 128, "sentences": ["pick up the white charging plate"], "code": {"frames": 172, "lead": 0, "anchor": 111, "span": [0, 171], "moved": true, "ik_err_mm_max": 0.2, "ik_err_deg_max": 0.05, "plate_gap_cm": [-0.03, -3.7, -0.25]}, "info": {"success": true, "success_frame": 127, "goal_now": true, "frames": 128}, "watch": {"fastest": {"electroscope_plate": {"m_s": 0.163, "tick": 124}, "electroscope_stand": {"m_s": 0.0, "tick": 11}, "electroscope": {"m_s": 0.0, "tick": 138}, "electroscope_box": {"m_s": 0.017, "tick": 125}}, "robot_contacts": {}, "props": {"electroscope": {"moved_cm": 0.0, "moved_at": 102, "tilt_deg": 0.0, "tilt_at": 32}, "electroscope_box": {"moved_cm": 0.083, "moved_at": 124, "tilt_deg": 0.36, "tilt_at": 115}}, "hand": {"held_frac": 0.116, "taken": 114, "let_go": 0, "slip_cm": 0.81, "reach_min_cm": 0.0, "reach_min_at": 111, "grip_max_deg": -2.2, "rule_frac": 0.147, "rule_agree": 0.969, "first_close": {"at": 110, "reach_cm": 0.03, "tab_above_pads_cm": -0.01, "tab_from_pads_xy_cm": 0.03, "held": false}}}} |
| {"episode_index": 26, "task": "electroscope_pick_look", "local_episode_index": 2, "source": "code", "judged": {"replay": false, "code": true}, "start_id": 3, "draw": null, "source_episode": 53, "start": {"id": 3, "reading": [43.0035, -30.5014, -7.0489, 108.8803, -24.0317, -19.7696, -1.9125, -31.3319, -42.8942, 30.0205, 6.6773, 110.454, 24.0754, 21.6274, 6.9833, -64.4753], "objects": {"electroscope_plate": {"pos": [0.238493, -0.281551, 0.324836], "quat": [0.4934716, -0.4548061, 0.3393881, -0.6591304]}, "electroscope_stand": {"pos": [0.259447, -0.12279, 0.341699], "quat": [1.0, 0.0, 0.0, 0.0]}, "electroscope": {"pos": [0.2759, 0.0047, 0.229998], "quat": [1.0, 7.7e-06, -2.2e-06, 0.0]}, "electroscope_box": {"pos": [0.3013, -0.258399, 0.23], "quat": [1.0, 9.5e-06, -7.3e-06, 7.3e-06]}}, "held": {"electroscope_plate": null}, "home": {"left": [0.24678, 0.2422, 0.43439], "right": [0.17963, -0.13012, 0.42504]}, "source": {"episode": 53, "frame": 0}, "command": [42.9817, -30.5014, -7.0051, 110.1918, -24.2284, -18.9828, -2.4589, -37.4956, -43.0035, 30.4358, 7.0707, 110.7819, 24.6874, 21.4307, 7.8139, -72.9038], "variant": {"electroscope_plate": "pale"}, "settle": {"max_depth_mm": 0.009, "pair": ["electroscope_plate_disc", "electroscope_box"], "soft_depth_mm": 2.012, "max_speed_mm_s": 0.085, "seconds": 0.1}}, "frames": 147, "sentences": ["pick up the white charging plate"], "code": {"frames": 195, "lead": 0, "anchor": 129, "span": [0, 194], "moved": true, "ik_err_mm_max": 0.2, "ik_err_deg_max": 0.04, "plate_gap_cm": [-0.07, -5.96, 0.48]}, "info": {"success": true, "success_frame": 146, "goal_now": true, "frames": 147}, "watch": {"fastest": {"electroscope_plate": {"m_s": 0.161, "tick": 144}, "electroscope_stand": {"m_s": 0.0, "tick": 11}, "electroscope": {"m_s": 0.0, "tick": 157}, "electroscope_box": {"m_s": 0.022, "tick": 147}}, "robot_contacts": {}, "props": {"electroscope": {"moved_cm": 0.0, "moved_at": 102, "tilt_deg": 0.0, "tilt_at": 32}, "electroscope_box": {"moved_cm": 0.132, "moved_at": 138, "tilt_deg": 1.35, "tilt_at": 138}}, "hand": {"held_frac": 0.101, "taken": 133, "let_go": 0, "slip_cm": 1.09, "reach_min_cm": 0.0, "reach_min_at": 129, "grip_max_deg": -2.2, "rule_frac": 0.135, "rule_agree": 0.966, "first_close": {"at": 128, "reach_cm": 0.12, "tab_above_pads_cm": 0.03, "tab_from_pads_xy_cm": 0.11, "held": false}}}} |
| {"episode_index": 27, "task": "electroscope_pick_look", "local_episode_index": 3, "source": "code", "judged": {"replay": false, "code": true}, "start_id": 4, "draw": null, "source_episode": 54, "start": {"id": 4, "reading": [43.0035, -30.7855, -6.721, 109.1645, -23.8787, -21.0592, -5.7812, -30.8948, -43.2002, 30.0205, 6.3494, 110.148, 23.4416, 21.7804, 7.3767, -64.4753], "objects": {"electroscope_plate": {"pos": [0.230996, -0.273356, 0.32483], "quat": [0.4345349, -0.423516, 0.37788, -0.6992999]}, "electroscope_stand": {"pos": [0.257825, -0.131735, 0.350663], "quat": [1.0, 0.0, 0.0, 0.0]}, "electroscope": {"pos": [0.2759, 0.0047, 0.229998], "quat": [1.0, 7.7e-06, -2.2e-06, 0.0]}, "electroscope_box": {"pos": [0.3013, -0.258399, 0.23], "quat": [1.0, 3.8e-06, -1.78e-05, 8e-07]}}, "held": {"electroscope_plate": null}, "home": {"left": [0.27018, 0.19136, 0.44648], "right": [0.18181, -0.14852, 0.45113]}, "source": {"episode": 54, "frame": 0}, "command": [43.1347, -30.5014, -6.9833, 109.995, -24.6874, -21.1466, -7.5297, -37.124, -43.0254, 30.3046, 7.0489, 110.4759, 24.7311, 21.6056, 8.0106, -72.9257], "variant": {"electroscope_plate": "white"}, "settle": {"max_depth_mm": 0.007, "pair": ["electroscope_plate_disc", "electroscope_box"], "soft_depth_mm": 2.034, "max_speed_mm_s": 0.085, "seconds": 0.1}}, "frames": 148, "sentences": ["pick up the white charging plate"], "code": {"frames": 214, "lead": 0, "anchor": 131, "span": [0, 213], "moved": true, "ik_err_mm_max": 0.2, "ik_err_deg_max": 0.04, "plate_gap_cm": [0.33, -4.0, -0.29]}, "info": {"success": true, "success_frame": 147, "goal_now": true, "frames": 148}, "watch": {"fastest": {"electroscope_plate": {"m_s": 0.131, "tick": 145}, "electroscope_stand": {"m_s": 0.0, "tick": 11}, "electroscope": {"m_s": 0.0, "tick": 158}, "electroscope_box": {"m_s": 0.028, "tick": 145}}, "robot_contacts": {}, "props": {"electroscope": {"moved_cm": 0.0, "moved_at": 102, "tilt_deg": 0.0, "tilt_at": 32}, "electroscope_box": {"moved_cm": 0.098, "moved_at": 148, "tilt_deg": 0.1, "tilt_at": 146}}, "hand": {"held_frac": 0.101, "taken": 134, "let_go": 0, "slip_cm": 0.44, "reach_min_cm": 0.01, "reach_min_at": 128, "grip_max_deg": -2.0, "rule_frac": 0.128, "rule_agree": 0.973, "first_close": {"at": 130, "reach_cm": 0.01, "tab_above_pads_cm": 0.01, "tab_from_pads_xy_cm": 0.01, "held": false}}}} |
| {"episode_index": 28, "task": "electroscope_pick_look", "local_episode_index": 4, "source": "code", "judged": {"replay": false, "code": true}, "start_id": 5, "draw": null, "source_episode": 55, "start": {"id": 5, "reading": [43.0035, -30.5014, -7.1581, 109.842, -23.8787, -20.6002, -3.6392, -36.2716, -42.8942, 30.1735, 6.3057, 110.4103, 24.0536, 21.846, 7.3986, -63.3624], "objects": {"electroscope_plate": {"pos": [0.227738, -0.266213, 0.324828], "quat": [0.4455462, -0.4294662, 0.3710682, -0.6923552]}, "electroscope_stand": {"pos": [0.280783, -0.106088, 0.349524], "quat": [1.0, 0.0, 0.0, 0.0]}, "electroscope": {"pos": [0.2759, 0.0047, 0.229998], "quat": [1.0, 7.7e-06, -2.2e-06, 0.0]}, "electroscope_box": {"pos": [0.3013, -0.2584, 0.230001], "quat": [1.0, 1.4e-06, -3.25e-05, 1.6e-06]}}, "held": {"electroscope_plate": null}, "home": {"left": [0.23351, 0.18311, 0.4498], "right": [0.17841, -0.09993, 0.45426]}, "source": {"episode": 55, "frame": 0}, "command": [42.9817, -30.3484, -7.1144, 110.301, -24.2284, -20.5127, -2.4589, -42.2167, -43.0035, 30.5888, 6.8303, 110.6289, 24.6874, 21.8679, 8.0106, -65.4943], "variant": {"electroscope_plate": "grey"}, "settle": {"max_depth_mm": 0.01, "pair": ["electroscope_plate_disc", "electroscope_box"], "soft_depth_mm": 2.011, "max_speed_mm_s": 0.085, "seconds": 0.1}}, "frames": 143, "sentences": ["pick up the white charging plate"], "code": {"frames": 198, "lead": 0, "anchor": 125, "span": [0, 197], "moved": true, "ik_err_mm_max": 0.2, "ik_err_deg_max": 0.06, "plate_gap_cm": [-1.68, -6.55, -0.26]}, "info": {"success": true, "success_frame": 142, "goal_now": true, "frames": 143}, "watch": {"fastest": {"electroscope_plate": {"m_s": 0.184, "tick": 139}, "electroscope_stand": {"m_s": 0.0, "tick": 11}, "electroscope": {"m_s": 0.0, "tick": 153}, "electroscope_box": {"m_s": 0.042, "tick": 142}}, "robot_contacts": {}, "props": {"electroscope": {"moved_cm": 0.0, "moved_at": 102, "tilt_deg": 0.0, "tilt_at": 32}, "electroscope_box": {"moved_cm": 0.219, "moved_at": 143, "tilt_deg": 0.13, "tilt_at": 130}}, "hand": {"held_frac": 0.104, "taken": 129, "let_go": 0, "slip_cm": 0.83, "reach_min_cm": 0.01, "reach_min_at": 123, "grip_max_deg": -2.5, "rule_frac": 0.132, "rule_agree": 0.972, "first_close": {"at": 125, "reach_cm": 0.01, "tab_above_pads_cm": -0.0, "tab_from_pads_xy_cm": 0.01, "held": false}}}} |
| {"episode_index": 29, "task": "electroscope_pick_look", "local_episode_index": 5, "source": "code", "judged": {"replay": false, "code": true}, "start_id": 6, "draw": null, "source_episode": 56, "start": {"id": 6, "reading": [42.8724, -28.5779, -7.5079, 109.3612, -20.3816, -18.3052, -4.9506, -40.796, -43.0691, 30.1735, 7.027, 109.8639, 24.0973, 21.234, 9.169, -64.4753], "objects": {"electroscope_plate": {"pos": [0.227738, -0.266213, 0.324828], "quat": [0.4455462, -0.4294662, 0.3710682, -0.6923552]}, "electroscope_stand": {"pos": [0.258863, -0.119949, 0.349008], "quat": [1.0, 0.0, 0.0, 0.0]}, "electroscope": {"pos": [0.2759, 0.0047, 0.229998], "quat": [1.0, 7.7e-06, -2.2e-06, 0.0]}, "electroscope_box": {"pos": [0.3013, -0.2584, 0.230001], "quat": [1.0, 1.4e-06, -3.25e-05, 1.6e-06]}}, "held": {"electroscope_plate": null}, "home": {"left": [0.18183, 0.19688, 0.45209], "right": [0.20798, -0.15837, 0.45245]}, "source": {"episode": 56, "frame": 0}, "command": [42.9817, -28.2938, -7.2674, 110.301, -20.9499, -18.8079, -4.426, -46.5006, -43.0035, 30.7855, 7.1363, 110.5196, 24.8841, 21.0373, 10.8083, -72.9257], "variant": {"electroscope_plate": "pale"}, "settle": {"max_depth_mm": 0.01, "pair": ["electroscope_plate_disc", "electroscope_box"], "soft_depth_mm": 2.011, "max_speed_mm_s": 0.085, "seconds": 0.1}}, "frames": 192, "sentences": ["pick up the white charging plate"], "code": {"frames": 239, "lead": 0, "anchor": 175, "span": [0, 238], "moved": true, "ik_err_mm_max": 0.19, "ik_err_deg_max": 0.06, "plate_gap_cm": [-0.34, -4.41, 0.0]}, "info": {"success": true, "success_frame": 191, "goal_now": true, "frames": 192}, "watch": {"fastest": {"electroscope_plate": {"m_s": 0.212, "tick": 188}, "electroscope_stand": {"m_s": 0.0, "tick": 11}, "electroscope": {"m_s": 0.0, "tick": 202}, "electroscope_box": {"m_s": 0.055, "tick": 189}}, "robot_contacts": {}, "props": {"electroscope": {"moved_cm": 0.0, "moved_at": 102, "tilt_deg": 0.0, "tilt_at": 32}, "electroscope_box": {"moved_cm": 0.363, "moved_at": 183, "tilt_deg": 0.14, "tilt_at": 181}}, "hand": {"held_frac": 0.078, "taken": 178, "let_go": 0, "slip_cm": 0.45, "reach_min_cm": 0.02, "reach_min_at": 173, "grip_max_deg": -2.2, "rule_frac": 0.098, "rule_agree": 0.979, "first_close": {"at": 174, "reach_cm": 0.02, "tab_above_pads_cm": -0.01, "tab_from_pads_xy_cm": 0.02, "held": false}}}} |
| {"episode_index": 30, "task": "electroscope_pick_look", "local_episode_index": 6, "source": "code", "judged": {"replay": false, "code": true}, "start_id": 7, "draw": null, "source_episode": 57, "start": {"id": 7, "reading": [43.1565, -30.5014, -7.1581, 109.2082, -24.2503, -18.0866, -6.1964, -41.0583, -43.3751, 30.0205, 6.6336, 109.6016, 24.294, 21.8242, 7.18, -64.4753], "objects": {"electroscope_plate": {"pos": [0.224424, -0.265444, 0.324835], "quat": [0.4206747, -0.4160027, 0.3861831, -0.7076985]}, "electroscope_stand": {"pos": [0.270081, -0.116699, 0.346518], "quat": [1.0, 0.0, 0.0, 0.0]}, "electroscope": {"pos": [0.2759, 0.0047, 0.229998], "quat": [1.0, 7.7e-06, -2.2e-06, 0.0]}, "electroscope_box": {"pos": [0.3013, -0.2584, 0.230001], "quat": [1.0, 3e-06, -2.51e-05, 1.1e-06]}}, "held": {"electroscope_plate": null}, "home": {"left": [0.27023, 0.29187, 0.43275], "right": [0.18465, -0.14519, 0.44095]}, "source": {"episode": 57, "frame": 0}, "command": [43.1347, -30.5014, -7.0926, 109.8202, -24.4688, -18.8298, -7.027, -47.1345, -43.0254, 30.7636, 7.0707, 110.2573, 24.9278, 21.8023, 7.639, -72.9038], "variant": {"electroscope_plate": "white"}, "settle": {"max_depth_mm": 0.007, "pair": ["electroscope_plate_disc", "electroscope_box"], "soft_depth_mm": 2.026, "max_speed_mm_s": 0.085, "seconds": 0.1}}, "frames": 159, "sentences": ["pick up the white charging plate"], "code": {"frames": 217, "lead": 0, "anchor": 141, "span": [0, 216], "moved": true, "ik_err_mm_max": 0.19, "ik_err_deg_max": 0.05, "plate_gap_cm": [-0.97, -4.94, -0.37]}, "info": {"success": true, "success_frame": 158, "goal_now": true, "frames": 159}, "watch": {"fastest": {"electroscope_plate": {"m_s": 0.112, "tick": 155}, "electroscope_stand": {"m_s": 0.0, "tick": 11}, "electroscope": {"m_s": 0.0, "tick": 169}, "electroscope_box": {"m_s": 0.01, "tick": 156}}, "robot_contacts": {}, "props": {"electroscope": {"moved_cm": 0.0, "moved_at": 102, "tilt_deg": 0.0, "tilt_at": 32}, "electroscope_box": {"moved_cm": 0.099, "moved_at": 159, "tilt_deg": 0.14, "tilt_at": 150}}, "hand": {"held_frac": 0.094, "taken": 145, "let_go": 0, "slip_cm": 0.33, "reach_min_cm": 0.0, "reach_min_at": 139, "grip_max_deg": -2.5, "rule_frac": 0.125, "rule_agree": 0.969, "first_close": {"at": 140, "reach_cm": 0.0, "tab_above_pads_cm": -0.0, "tab_from_pads_xy_cm": 0.0, "held": false}}}} |
| {"episode_index": 31, "task": "electroscope_pick_look", "local_episode_index": 7, "source": "code", "judged": {"replay": false, "code": true}, "start_id": 8, "draw": null, "source_episode": 58, "start": {"id": 8, "reading": [43.1565, -30.3265, -6.9396, 109.0989, -24.0098, -21.1029, 1.4753, -39.3097, -43.0472, 30.0205, 6.3932, 109.0989, 24.0536, 22.2176, 8.6444, -64.4753], "objects": {"electroscope_plate": {"pos": [0.238426, -0.274329, 0.324824], "quat": [0.4517784, -0.4327654, 0.3672198, -0.6883022]}, "electroscope_stand": {"pos": [0.273026, -0.124088, 0.349579], "quat": [1.0, 0.0, 0.0, 0.0]}, "electroscope": {"pos": [0.2759, 0.0047, 0.229998], "quat": [1.0, 7.7e-06, -2.2e-06, 0.0]}, "electroscope_box": {"pos": [0.3013, -0.258399, 0.229999], "quat": [1.0, 3.8e-06, -5e-06, 1.2e-06]}}, "held": {"electroscope_plate": null}, "home": {"left": [0.2172, 0.22959, 0.42241], "right": [0.20206, -0.12875, 0.45949]}, "source": {"episode": 58, "frame": 0}, "command": [43.1347, -30.3265, -7.0051, 109.4486, -24.294, -21.1466, 3.0272, -45.1892, -43.0035, 30.5888, 7.0489, 110.301, 24.6874, 22.0646, 8.1854, -72.9257], "variant": {"electroscope_plate": "grey"}, "settle": {"max_depth_mm": 0.01, "pair": ["electroscope_plate_disc", "electroscope_box"], "soft_depth_mm": 2.025, "max_speed_mm_s": 0.085, "seconds": 0.1}}, "frames": 143, "sentences": ["pick up the white charging plate"], "code": {"frames": 232, "lead": 0, "anchor": 122, "span": [0, 231], "moved": true, "ik_err_mm_max": 0.18, "ik_err_deg_max": 0.05, "plate_gap_cm": [-0.13, -5.27, -0.68]}, "info": {"success": true, "success_frame": 142, "goal_now": true, "frames": 143}, "watch": {"fastest": {"electroscope_plate": {"m_s": 0.167, "tick": 140}, "electroscope_stand": {"m_s": 0.0, "tick": 11}, "electroscope": {"m_s": 0.0, "tick": 153}, "electroscope_box": {"m_s": 0.008, "tick": 144}}, "robot_contacts": {}, "props": {"electroscope": {"moved_cm": 0.0, "moved_at": 102, "tilt_deg": 0.0, "tilt_at": 32}, "electroscope_box": {"moved_cm": 0.083, "moved_at": 143, "tilt_deg": 0.1, "tilt_at": 134}}, "hand": {"held_frac": 0.104, "taken": 129, "let_go": 0, "slip_cm": 0.69, "reach_min_cm": 0.0, "reach_min_at": 122, "grip_max_deg": -2.5, "rule_frac": 0.16, "rule_agree": 0.944, "first_close": {"at": 121, "reach_cm": 0.01, "tab_above_pads_cm": 0.01, "tab_from_pads_xy_cm": 0.0, "held": false}}}} |
| {"episode_index": 32, "task": "electroscope_pick_look", "local_episode_index": 8, "source": "code", "judged": {"replay": false, "code": true}, "start_id": 9, "draw": null, "source_episode": 59, "start": {"id": 9, "reading": [43.0035, -30.6325, -6.9396, 108.8803, -24.0536, -20.6439, -1.9562, -51.7244, -43.2221, 30.0205, 6.721, 109.9076, 24.0536, 21.6274, 6.3494, -64.4753], "objects": {"electroscope_plate": {"pos": [0.235541, -0.271657, 0.324817], "quat": [0.4821649, -0.4487427, 0.3474015, -0.6674273]}, "electroscope_stand": {"pos": [0.260283, -0.109124, 0.349046], "quat": [1.0, 0.0, 0.0, 0.0]}, "electroscope": {"pos": [0.2759, 0.0047, 0.229998], "quat": [1.0, 7.7e-06, -2.2e-06, 0.0]}, "electroscope_box": {"pos": [0.3013, -0.2584, 0.229999], "quat": [1.0, 1.4e-06, -1.53e-05, 9e-07]}}, "held": {"electroscope_plate": null}, "home": {"left": [0.21419, 0.22854, 0.44152], "right": [0.17738, -0.1486, 0.43282]}, "source": {"episode": 59, "frame": 0}, "command": [42.9598, -30.4795, -7.1144, 110.1918, -24.1847, -20.0537, -3.049, -57.4291, -43.0254, 30.6325, 7.0926, 110.76, 20.928, 22.3706, 6.1309, -72.882], "variant": {"electroscope_plate": "pale"}, "settle": {"max_depth_mm": 0.009, "pair": ["electroscope_plate_disc", "electroscope_box"], "soft_depth_mm": 2.009, "max_speed_mm_s": 0.085, "seconds": 0.1}}, "frames": 131, "sentences": ["pick up the white charging plate"], "code": {"frames": 203, "lead": 0, "anchor": 114, "span": [0, 202], "moved": true, "ik_err_mm_max": 0.18, "ik_err_deg_max": 0.04, "plate_gap_cm": [-0.4, -6.06, -0.34]}, "info": {"success": true, "success_frame": 130, "goal_now": true, "frames": 131}, "watch": {"fastest": {"electroscope_plate": {"m_s": 0.22, "tick": 128}, "electroscope_stand": {"m_s": 0.0, "tick": 11}, "electroscope": {"m_s": 0.0, "tick": 141}, "electroscope_box": {"m_s": 0.006, "tick": 128}}, "robot_contacts": {}, "props": {"electroscope": {"moved_cm": 0.0, "moved_at": 102, "tilt_deg": 0.0, "tilt_at": 32}, "electroscope_box": {"moved_cm": 0.038, "moved_at": 131, "tilt_deg": 0.09, "tilt_at": 131}}, "hand": {"held_frac": 0.114, "taken": 117, "let_go": 0, "slip_cm": 0.76, "reach_min_cm": 0.01, "reach_min_at": 112, "grip_max_deg": -2.3, "rule_frac": 0.136, "rule_agree": 0.977, "first_close": {"at": 114, "reach_cm": 0.01, "tab_above_pads_cm": -0.0, "tab_from_pads_xy_cm": 0.01, "held": false}}}} |
| {"episode_index": 33, "task": "electroscope_script", "local_episode_index": 0, "source": "code", "judged": {"replay": false, "code": true}, "start_id": 2, "draw": null, "source_episode": 52, "start": {"id": 2, "reading": [43.0035, -30.1735, -7.0489, 109.7109, -23.8131, -20.1849, 3.4643, -33.4739, -43.5281, 29.4959, 6.3057, 109.8202, 24.2721, 21.8242, 7.0051, -64.4752], "objects": {"electroscope_plate": {"pos": [0.223617, -0.27101, 0.324835], "quat": [0.4199411, -0.4156451, 0.3865699, -0.708133]}, "electroscope_stand": {"pos": [0.264237, -0.139357, 0.348861], "quat": [1.0, 0.0, 0.0, 0.0]}, "electroscope": {"pos": [0.2759, 0.0047, 0.229998], "quat": [1.0, 7.7e-06, -2.2e-06, 0.0]}, "electroscope_box": {"pos": [0.3013, -0.258399, 0.230001], "quat": [1.0, 4.4e-06, -2.47e-05, 7e-07]}}, "held": {"electroscope_plate": null}, "home": {"left": [0.202, 0.1518, 0.44552], "right": [0.18169, -0.11187, 0.43506]}, "source": {"episode": 52, "frame": 0}, "command": [42.9817, -30.1954, -6.9396, 110.301, -24.1191, -20.2723, 3.049, -39.6594, -43.0035, 29.6271, 6.7866, 110.5196, 24.7093, 21.8679, 7.6171, -72.9257], "settle": {"max_depth_mm": 0.01, "pair": ["electroscope_plate_disc", "electroscope_box"], "soft_depth_mm": 2.03, "max_speed_mm_s": 0.085, "seconds": 0.1}}, "frames": 3123, "sentences": null, "code": {}, "info": {"chained": 10, "of": 10, "items": [{"number": 1, "item": "grasp", "ok": true, "success_frame": 129, "goal_now": true}, {"number": 2, "item": "bring", "ok": true, "success_frame": 88, "goal_now": true, "rise_cm": 3.8, "touch_cm": 7.3}, {"number": 3, "item": "near1", "ok": true, "success_frame": 82, "goal_now": true, "nearest_cm": 0.9, "swing_cm": 10.5}, {"number": 4, "item": "rub", "ok": true, "success_frame": 196, "goal_now": true, "rub_cm": 55.1}, {"number": 2, "item": "near2", "ok": true, "success_frame": 162, "goal_now": true, "rise_cm": 5.1, "touch_cm": 9.0}, {"number": 8, "item": "near2", "ok": true, "success_frame": 98, "goal_now": true, "nearest_cm": 2.1, "swing_cm": 11.6, "touch_cm": 5.3}, {"number": 5, "item": "ground_wait", "ok": true, "success_frame": 230, "goal_now": true, "inside": true, "off_cm": 1.0, "y_cm": -0.2, "still_s": 8.5}, {"number": 3, "item": "near3", "ok": true, "success_frame": 71, "goal_now": true, "nearest_cm": 2.1, "swing_cm": 12.5}, {"number": 6, "item": "place", "ok": true, "success_frame": 190, "goal_now": true, "above_box_cm": 0.1, "over_box": true, "speed_cm_s": 0.0, "released": true}, {"number": 7, "item": "home", "ok": true, "success_frame": 91, "goal_now": true, "home_off_cm": [0.0, 0.0]}]}, "watch": {"fastest": {"electroscope_plate": {"m_s": 0.625, "tick": 1246}, "electroscope_stand": {"m_s": 0.0, "tick": 11}, "electroscope": {"m_s": 0.001, "tick": 881}, "electroscope_box": {"m_s": 0.111, "tick": 1113}}, "robot_contacts": {}, "props": {"electroscope": {"moved_cm": 0.006, "moved_at": 874, "tilt_deg": 0.1, "tilt_at": 874}, "electroscope_box": {"moved_cm": 2.417, "moved_at": 2838, "tilt_deg": 0.91, "tilt_at": 1086}}, "hand": {"held_frac": 0.879, "taken": 116, "let_go": 1, "slip_cm": 2.27, "reach_min_cm": 0.0, "reach_min_at": 113, "grip_max_deg": -0.6, "rule_frac": 0.881, "rule_agree": 0.998, "first_close": {"at": 112, "reach_cm": 0.03, "tab_above_pads_cm": -0.01, "tab_from_pads_xy_cm": 0.03, "held": false}}}} |
|
|
