{ "artifact_id": "session-1478437825518455-e0", "type": "olympus.episodes.Episode@1.0", "payload": { "spec": { "episode_id": "session-1478437825518455-e0", "source": "sim", "scenario_ref": null, "scene_ref": "cube-back-short-term", "task_ref": "cube-back-short-term", "embodiment": "franka-robotiq-2f85", "camera_rig_ref": null, "simulation_ref": "isaac50-mode3-live", "clock_domain": "monotonic", "source_tags": [ "robolab", "mode3-xr" ] }, "streams": [ { "name": "commands", "type": "olympus.teleop.Mode3Command@1.0", "artifact": { "digest": "sha256:29a5e9a9671d19d1bd3c775ad1219a6c4c8428a0df2062d501264d0009a1654c", "media_type": "application/x-ndjson", "byte_size": 19485534, "locator": null, "compression": null }, "stats": { "count": 46439, "first": { "timestamp_ns": 1478570768870528, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "last": { "timestamp_ns": 1480252994068337, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "nominal_rate_hz": null, "dropped": 0 } }, { "name": "entity_states", "type": "olympus.episodes.SceneStateSample@1.0", "artifact": { "digest": "sha256:1b918066e77f35090496eae476e3410242854e0831e174209200ef39cbce6154", "media_type": "application/x-ndjson", "byte_size": 9904383, "locator": null, "compression": null }, "stats": { "count": 10492, "first": { "timestamp_ns": 1478570768870528, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "last": { "timestamp_ns": 1480252960823778, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "nominal_rate_hz": null, "dropped": 0 } }, { "name": "initial_states", "type": "olympus.episodes.SceneStateSample@1.0", "artifact": { "digest": "sha256:52085d8a343dcc9c5631d8e9c7ab59a134de7c703c0dc00e59f1e2c09791eb13", "media_type": "application/x-ndjson", "byte_size": 52898, "locator": null, "compression": null }, "stats": { "count": 56, "first": { "timestamp_ns": 1478569518621326, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "last": { "timestamp_ns": 1480236567213089, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "nominal_rate_hz": null, "dropped": 0 } }, { "name": "robot_link_states", "type": "olympus.episodes.RobotLinkStateSample@1.0", "artifact": { "digest": "sha256:62e63918071d3c50bb0c6d779f61f67066c4bdad5fdda0c67933ebe5b0c56e2f", "media_type": "application/x-ndjson", "byte_size": 50815516, "locator": null, "compression": null }, "stats": { "count": 10492, "first": { "timestamp_ns": 1478570768870528, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "last": { "timestamp_ns": 1480252960823778, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "nominal_rate_hz": null, "dropped": 0 } }, { "name": "robot_states", "type": "olympus.episodes.RobotStateSample@1.0", "artifact": { "digest": "sha256:1d5e0269e41fbc8aab004a37157574fddfbdf4558d9be819b263e60e396e41dd", "media_type": "application/x-ndjson", "byte_size": 71457653, "locator": null, "compression": null }, "stats": { "count": 46439, "first": { "timestamp_ns": 1478570768870528, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "last": { "timestamp_ns": 1480252994068337, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "nominal_rate_hz": null, "dropped": 0 } }, { "name": "snapshots", "type": "olympus.sensors.XRSnapshot@1.0", "artifact": { "digest": "sha256:afca3be9cf90de60f85fecee63c38f583b8d4bf209f23c84f17eef0e2dab7f75", "media_type": "application/x-ndjson", "byte_size": 51575902, "locator": null, "compression": null }, "stats": { "count": 46439, "first": { "timestamp_ns": 1478570768870528, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "last": { "timestamp_ns": 1480252994068337, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "nominal_rate_hz": null, "dropped": 0 } } ], "segments": [ { "segment_id": "seg_0", "range": { "start_ns": 1478569518621326, "end_ns": 1478595118620395, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": false }, { "segment_id": "seg_1", "range": { "start_ns": 1478648913402059, "end_ns": 1478670601962150, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": false }, { "segment_id": "seg_2", "range": { "start_ns": 1478708251959384, "end_ns": 1478733635294361, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": false }, { "segment_id": "seg_3", "range": { "start_ns": 1478743568625793, "end_ns": 1478749385326194, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": true }, { "segment_id": "seg_4", "range": { "start_ns": 1478776118631223, "end_ns": 1478797501960427, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": false }, { "segment_id": "seg_5", "range": { "start_ns": 1478806114461385, "end_ns": 1478828285621362, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": false }, { "segment_id": "seg_6", "range": { "start_ns": 1478842228599958, "end_ns": 1478858011940628, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": true }, { "segment_id": "seg_7", "range": { "start_ns": 1478883407377413, "end_ns": 1478903765454726, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": false }, { "segment_id": "seg_8", "range": { "start_ns": 1478918619879834, "end_ns": 1478929503193746, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": false }, { "segment_id": "seg_9", "range": { "start_ns": 1478930286547706, "end_ns": 1478930853212476, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": true }, { "segment_id": "seg_10", "range": { "start_ns": 1478951082415339, "end_ns": 1478969496694653, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": false }, { "segment_id": "seg_11", "range": { "start_ns": 1478995091962126, "end_ns": 1479005441938206, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": false }, { "segment_id": "seg_12", "range": { "start_ns": 1479005525298592, "end_ns": 1479008613735993, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": true }, { "segment_id": "seg_13", "range": { "start_ns": 1479040441139678, "end_ns": 1479061675273510, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": false }, { "segment_id": "seg_14", "range": { "start_ns": 1479075473346980, "end_ns": 1479097723374941, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": false }, { "segment_id": "seg_15", "range": { "start_ns": 1479114678248835, "end_ns": 1479133531261252, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": false }, { "segment_id": "seg_16", "range": { "start_ns": 1479151097352482, "end_ns": 1479158492526163, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": true }, { "segment_id": "seg_17", "range": { "start_ns": 1479174659145476, "end_ns": 1479178101331634, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": true }, { "segment_id": "seg_18", "range": { "start_ns": 1479188609173021, "end_ns": 1479210992479746, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": false }, { "segment_id": "seg_19", "range": { "start_ns": 1479222391013803, "end_ns": 1479243724295308, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": false }, { "segment_id": "seg_20", "range": { "start_ns": 1479257529611055, "end_ns": 1479279979611507, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": false }, { "segment_id": "seg_21", "range": { "start_ns": 1479292260158565, "end_ns": 1479314060173468, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": false }, { "segment_id": "seg_22", "range": { "start_ns": 1479326629567960, "end_ns": 1479343701088072, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": false }, { "segment_id": "seg_23", "range": { "start_ns": 1479349303186576, "end_ns": 1479369181841922, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": false }, { "segment_id": "seg_24", "range": { "start_ns": 1479380805013894, "end_ns": 1479401138314622, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": false }, { "segment_id": "seg_25", "range": { "start_ns": 1479415505386281, "end_ns": 1479421438618814, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": true }, { "segment_id": "seg_26", "range": { "start_ns": 1479445048041346, "end_ns": 1479450414748956, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": true }, { "segment_id": "seg_27", "range": { "start_ns": 1479464631407244, "end_ns": 1479471414722300, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": true }, { "segment_id": "seg_28", "range": { "start_ns": 1479485414761404, "end_ns": 1479504148077741, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": false }, { "segment_id": "seg_29", "range": { "start_ns": 1479511918838128, "end_ns": 1479529045366646, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": false }, { "segment_id": "seg_30", "range": { "start_ns": 1479540881151116, "end_ns": 1479558448145548, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": false }, { "segment_id": "seg_31", "range": { "start_ns": 1479568455103883, "end_ns": 1479586321789408, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": false }, { "segment_id": "seg_32", "range": { "start_ns": 1479598404686932, "end_ns": 1479613428768130, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": false }, { "segment_id": "seg_33", "range": { "start_ns": 1479627624407788, "end_ns": 1479648506574854, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": false }, { "segment_id": "seg_34", "range": { "start_ns": 1479666789494814, "end_ns": 1479680986283225, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": true }, { "segment_id": "seg_35", "range": { "start_ns": 1479698491683628, "end_ns": 1479705353762121, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": true }, { "segment_id": "seg_36", "range": { "start_ns": 1479723710197450, "end_ns": 1479729861844162, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": true }, { "segment_id": "seg_37", "range": { "start_ns": 1479745803737071, "end_ns": 1479763507860189, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": false }, { "segment_id": "seg_38", "range": { "start_ns": 1479777181981225, "end_ns": 1479791138297957, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": false }, { "segment_id": "seg_39", "range": { "start_ns": 1479802532372766, "end_ns": 1479813229547231, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": true }, { "segment_id": "seg_40", "range": { "start_ns": 1479828639447186, "end_ns": 1479848284345425, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": false }, { "segment_id": "seg_41", "range": { "start_ns": 1479860813895305, "end_ns": 1479878037663827, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": false }, { "segment_id": "seg_42", "range": { "start_ns": 1479891615929823, "end_ns": 1479907985119638, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": true }, { "segment_id": "seg_43", "range": { "start_ns": 1479932387498734, "end_ns": 1479948630738657, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": false }, { "segment_id": "seg_44", "range": { "start_ns": 1479960426289160, "end_ns": 1479976554965748, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": false }, { "segment_id": "seg_45", "range": { "start_ns": 1479985200110270, "end_ns": 1480003424830743, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": false }, { "segment_id": "seg_46", "range": { "start_ns": 1480012848062812, "end_ns": 1480028081716150, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": false }, { "segment_id": "seg_47", "range": { "start_ns": 1480035229468874, "end_ns": 1480053412801915, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": false }, { "segment_id": "seg_48", "range": { "start_ns": 1480072148162444, "end_ns": 1480088734194273, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": false }, { "segment_id": "seg_49", "range": { "start_ns": 1480102618216632, "end_ns": 1480117513835017, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": false }, { "segment_id": "seg_50", "range": { "start_ns": 1480129238487561, "end_ns": 1480141511205877, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": false }, { "segment_id": "seg_51", "range": { "start_ns": 1480145981421585, "end_ns": 1480160198718606, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": false }, { "segment_id": "seg_52", "range": { "start_ns": 1480169257548887, "end_ns": 1480183868326440, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": false }, { "segment_id": "seg_53", "range": { "start_ns": 1480202448981218, "end_ns": 1480206398752095, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": true }, { "segment_id": "seg_54", "range": { "start_ns": 1480217865414566, "end_ns": 1480222865421443, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": true }, { "segment_id": "seg_55", "range": { "start_ns": 1480236567213089, "end_ns": 1480253410701879, "clock_domain": "monotonic" }, "purpose": null, "labels": [], "discarded": false } ], "markers": [ { "kind": "segment_start", "time": { "timestamp_ns": 1478569518621326, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_0" } }, { "kind": "clutch_engaged", "time": { "timestamp_ns": 1478570768870528, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "clutch_value": 1.0 } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1478577351928854, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.8686202764511108 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1478582501950713, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.1570206880569458 } }, { "kind": "stage_transition", "time": { "timestamp_ns": 1478585218607329, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_0", "from_stage": "cube_to_plate", "to_stage": "return_to_origin", "completed_prompt": "Pick up the red cube and place it on the plate.", "active_prompt": "Put the object back in its original location." } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1478588568614432, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.9606837630271912 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1478592751931776, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.29426127672195435 } }, { "kind": "segment_end", "time": { "timestamp_ns": 1478595118620395, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_0" } }, { "kind": "segment_start", "time": { "timestamp_ns": 1478648913402059, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_1" } }, { "kind": "clutch_engaged", "time": { "timestamp_ns": 1478650063419689, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "clutch_value": 1.0 } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1478654830027685, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.8559218645095825 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1478658615021753, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.19902312755584717 } }, { "kind": "stage_transition", "time": { "timestamp_ns": 1478661174362665, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_1", "from_stage": "cube_to_plate", "to_stage": "return_to_origin", "completed_prompt": "Pick up the red cube and place it on the plate.", "active_prompt": "Put the object back in its original location." } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1478664061302728, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.6148961782455444 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1478667850879383, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.3540903329849243 } }, { "kind": "segment_end", "time": { "timestamp_ns": 1478670601962150, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_1" } }, { "kind": "segment_start", "time": { "timestamp_ns": 1478708251959384, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_2" } }, { "kind": "clutch_engaged", "time": { "timestamp_ns": 1478709468627890, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "clutch_value": 1.0 } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1478715185323119, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.6529914140701294 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1478720301956965, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.16312569379806519 } }, { "kind": "clutch_released", "time": { "timestamp_ns": 1478720335291390, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "reason": "release" } }, { "kind": "clutch_engaged", "time": { "timestamp_ns": 1478722518629551, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "clutch_value": 1.0 } }, { "kind": "stage_transition", "time": { "timestamp_ns": 1478723968628603, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_2", "from_stage": "cube_to_plate", "to_stage": "return_to_origin", "completed_prompt": "Pick up the red cube and place it on the plate.", "active_prompt": "Put the object back in its original location." } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1478727285311854, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.9238095283508301 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1478731318649929, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.18510371446609497 } }, { "kind": "segment_end", "time": { "timestamp_ns": 1478733635294361, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_2" } }, { "kind": "segment_start", "time": { "timestamp_ns": 1478743568625793, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_3" } }, { "kind": "clutch_engaged", "time": { "timestamp_ns": 1478743918648180, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "clutch_value": 0.7714285850524902 } }, { "kind": "segment_end", "time": { "timestamp_ns": 1478749385326194, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_3" } }, { "kind": "segment_discarded", "time": { "timestamp_ns": 1478758301968477, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_3" } }, { "kind": "segment_start", "time": { "timestamp_ns": 1478776118631223, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_4" } }, { "kind": "clutch_engaged", "time": { "timestamp_ns": 1478776985427406, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "clutch_value": 0.7768009901046753 } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1478783168648412, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.9247863292694092 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1478786885301148, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.12478625774383545 } }, { "kind": "stage_transition", "time": { "timestamp_ns": 1478788585293032, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_4", "from_stage": "cube_to_plate", "to_stage": "return_to_origin", "completed_prompt": "Pick up the red cube and place it on the plate.", "active_prompt": "Put the object back in its original location." } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1478791335317800, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.9194139242172241 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1478795751955683, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.2559218406677246 } }, { "kind": "segment_end", "time": { "timestamp_ns": 1478797501960427, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_4" } }, { "kind": "segment_start", "time": { "timestamp_ns": 1478806114461385, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_5" } }, { "kind": "clutch_engaged", "time": { "timestamp_ns": 1478807385628276, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "clutch_value": 1.0 } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1478814835626564, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.6354089975357056 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1478817968981959, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.0 } }, { "kind": "stage_transition", "time": { "timestamp_ns": 1478819718962798, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_5", "from_stage": "cube_to_plate", "to_stage": "return_to_origin", "completed_prompt": "Pick up the red cube and place it on the plate.", "active_prompt": "Put the object back in its original location." } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1478822168966588, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.9103785157203674 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1478826468960998, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.1877899169921875 } }, { "kind": "segment_end", "time": { "timestamp_ns": 1478828285621362, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_5" } }, { "kind": "segment_start", "time": { "timestamp_ns": 1478842228599958, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_6" } }, { "kind": "clutch_engaged", "time": { "timestamp_ns": 1478843245279840, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "clutch_value": 1.0 } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1478848104549919, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.7846153974533081 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1478852561967611, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.006104946136474609 } }, { "kind": "stage_transition", "time": { "timestamp_ns": 1478854095322728, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_6", "from_stage": "cube_to_plate", "to_stage": "return_to_origin", "completed_prompt": "Pick up the red cube and place it on the plate.", "active_prompt": "Put the object back in its original location." } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1478856962100589, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.9702075719833374 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1478857661931968, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.24493277072906494 } }, { "kind": "clutch_released", "time": { "timestamp_ns": 1478857795383542, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "reason": "release" } }, { "kind": "segment_end", "time": { "timestamp_ns": 1478858011940628, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_6" } }, { "kind": "segment_discarded", "time": { "timestamp_ns": 1478864695285066, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_6" } }, { "kind": "segment_start", "time": { "timestamp_ns": 1478883407377413, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_7" } }, { "kind": "clutch_engaged", "time": { "timestamp_ns": 1478883998796922, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "clutch_value": 1.0 } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1478889732121976, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.7682539224624634 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1478894032141271, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.10036623477935791 } }, { "kind": "stage_transition", "time": { "timestamp_ns": 1478895348809172, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_7", "from_stage": "cube_to_plate", "to_stage": "return_to_origin", "completed_prompt": "Pick up the red cube and place it on the plate.", "active_prompt": "Put the object back in its original location." } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1478898548789629, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.9631257653236389 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1478902332120094, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.12844926118850708 } }, { "kind": "segment_end", "time": { "timestamp_ns": 1478903765454726, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_7" } }, { "kind": "segment_start", "time": { "timestamp_ns": 1478918619879834, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_8" } }, { "kind": "clutch_engaged", "time": { "timestamp_ns": 1478919286535568, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "clutch_value": 1.0 } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1478923936530606, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.9409035444259644 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1478927900617651, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.38070815801620483 } }, { "kind": "segment_end", "time": { "timestamp_ns": 1478929503193746, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_8" } }, { "kind": "segment_start", "time": { "timestamp_ns": 1478930286547706, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_9" } }, { "kind": "segment_end", "time": { "timestamp_ns": 1478930853212476, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_9" } }, { "kind": "segment_discarded", "time": { "timestamp_ns": 1478936603354381, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_9" } }, { "kind": "segment_start", "time": { "timestamp_ns": 1478951082415339, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_10" } }, { "kind": "clutch_engaged", "time": { "timestamp_ns": 1478952465751797, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "clutch_value": 0.870573878288269 } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1478956015744539, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.9951159954071045 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1478959356427974, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.0 } }, { "kind": "stage_transition", "time": { "timestamp_ns": 1478961126606955, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_10", "from_stage": "cube_to_plate", "to_stage": "return_to_origin", "completed_prompt": "Pick up the red cube and place it on the plate.", "active_prompt": "Put the object back in its original location." } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1478963571705280, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.6820513010025024 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1478967565177533, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.23272275924682617 } }, { "kind": "segment_end", "time": { "timestamp_ns": 1478969496694653, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_10" } }, { "kind": "segment_start", "time": { "timestamp_ns": 1478995091962126, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_11" } }, { "kind": "clutch_engaged", "time": { "timestamp_ns": 1478996041949437, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "clutch_value": 0.720634937286377 } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1479000091978973, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.9409035444259644 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1479003141948957, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.36971914768218994 } }, { "kind": "segment_end", "time": { "timestamp_ns": 1479005441938206, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_11" } }, { "kind": "segment_start", "time": { "timestamp_ns": 1479005525298592, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_12" } }, { "kind": "stage_transition", "time": { "timestamp_ns": 1479005708610439, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_12", "from_stage": "cube_to_plate", "to_stage": "return_to_origin", "completed_prompt": "Pick up the red cube and place it on the plate.", "active_prompt": "Put the object back in its original location." } }, { "kind": "segment_end", "time": { "timestamp_ns": 1479008613735993, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_12" } }, { "kind": "segment_discarded", "time": { "timestamp_ns": 1479015758630201, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_12" } }, { "kind": "segment_start", "time": { "timestamp_ns": 1479040441139678, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_13" } }, { "kind": "clutch_engaged", "time": { "timestamp_ns": 1479040882662415, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "clutch_value": 0.7169718742370605 } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1479046691971479, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.7084249258041382 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1479050525276735, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.32893770933151245 } }, { "kind": "stage_transition", "time": { "timestamp_ns": 1479052242568341, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_13", "from_stage": "cube_to_plate", "to_stage": "return_to_origin", "completed_prompt": "Pick up the red cube and place it on the plate.", "active_prompt": "Put the object back in its original location." } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1479054850348035, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.8627594709396362 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1479059741948201, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.0935286283493042 } }, { "kind": "clutch_released", "time": { "timestamp_ns": 1479061308659464, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "reason": "release" } }, { "kind": "segment_end", "time": { "timestamp_ns": 1479061675273510, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_13" } }, { "kind": "segment_start", "time": { "timestamp_ns": 1479075473346980, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_14" } }, { "kind": "clutch_engaged", "time": { "timestamp_ns": 1479075723347753, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "clutch_value": 1.0 } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1479081640028396, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.7435897588729858 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1479087123369011, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.16336989402770996 } }, { "kind": "stage_transition", "time": { "timestamp_ns": 1479088206678564, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_14", "from_stage": "cube_to_plate", "to_stage": "return_to_origin", "completed_prompt": "Pick up the red cube and place it on the plate.", "active_prompt": "Put the object back in its original location." } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1479090906679983, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.9260073304176331 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1479095790041366, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.08424901962280273 } }, { "kind": "segment_end", "time": { "timestamp_ns": 1479097723374941, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_14" } }, { "kind": "segment_start", "time": { "timestamp_ns": 1479114678248835, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_15" } }, { "kind": "clutch_engaged", "time": { "timestamp_ns": 1479115317940324, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "clutch_value": 1.0 } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1479118817925209, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.9777777791023254 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1479123295386691, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.0 } }, { "kind": "stage_transition", "time": { "timestamp_ns": 1479124851249218, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_15", "from_stage": "cube_to_plate", "to_stage": "return_to_origin", "completed_prompt": "Pick up the red cube and place it on the plate.", "active_prompt": "Put the object back in its original location." } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1479127467917447, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.6024419665336609 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1479131809348625, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.0 } }, { "kind": "segment_end", "time": { "timestamp_ns": 1479133531261252, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_15" } }, { "kind": "segment_start", "time": { "timestamp_ns": 1479151097352482, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_16" } }, { "kind": "clutch_engaged", "time": { "timestamp_ns": 1479151518104308, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "clutch_value": 0.8180708289146423 } }, { "kind": "segment_end", "time": { "timestamp_ns": 1479158492526163, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_16" } }, { "kind": "segment_discarded", "time": { "timestamp_ns": 1479164392495752, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_16" } }, { "kind": "segment_start", "time": { "timestamp_ns": 1479174659145476, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_17" } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1479174825841544, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.24175816774368286 } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1479176042480823, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 1.0 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1479176842497836, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.2434675693511963 } }, { "kind": "segment_end", "time": { "timestamp_ns": 1479178101331634, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_17" } }, { "kind": "segment_discarded", "time": { "timestamp_ns": 1479181592497993, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_17" } }, { "kind": "segment_start", "time": { "timestamp_ns": 1479188609173021, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_18" } }, { "kind": "clutch_engaged", "time": { "timestamp_ns": 1479189609147460, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "clutch_value": 0.7929182052612305 } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1479195859156897, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.9733821749687195 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1479200494358686, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.1352868676185608 } }, { "kind": "stage_transition", "time": { "timestamp_ns": 1479202192837604, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_18", "from_stage": "cube_to_plate", "to_stage": "return_to_origin", "completed_prompt": "Pick up the red cube and place it on the plate.", "active_prompt": "Put the object back in its original location." } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1479204286815980, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 1.0 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1479208992484412, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.06007319688796997 } }, { "kind": "segment_end", "time": { "timestamp_ns": 1479210992479746, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_18" } }, { "kind": "segment_start", "time": { "timestamp_ns": 1479222391013803, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_19" } }, { "kind": "clutch_engaged", "time": { "timestamp_ns": 1479222590961722, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "clutch_value": 1.0 } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1479229190957489, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.7296702861785889 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1479232957646105, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.2964590787887573 } }, { "kind": "stage_transition", "time": { "timestamp_ns": 1479233640959922, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_19", "from_stage": "cube_to_plate", "to_stage": "return_to_origin", "completed_prompt": "Pick up the red cube and place it on the plate.", "active_prompt": "Put the object back in its original location." } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1479237057648469, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.9689865708351135 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1479241290989180, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.3860805630683899 } }, { "kind": "segment_end", "time": { "timestamp_ns": 1479243724295308, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_19" } }, { "kind": "segment_start", "time": { "timestamp_ns": 1479257529611055, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_20" } }, { "kind": "clutch_engaged", "time": { "timestamp_ns": 1479257762944497, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "clutch_value": 0.9772893786430359 } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1479263896278527, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.9399267435073853 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1479268612944745, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.19291812181472778 } }, { "kind": "stage_transition", "time": { "timestamp_ns": 1479270179829586, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_20", "from_stage": "cube_to_plate", "to_stage": "return_to_origin", "completed_prompt": "Pick up the red cube and place it on the plate.", "active_prompt": "Put the object back in its original location." } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1479272596294740, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 1.0 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1479277812984615, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.33308911323547363 } }, { "kind": "segment_end", "time": { "timestamp_ns": 1479279979611507, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_20" } }, { "kind": "segment_start", "time": { "timestamp_ns": 1479292260158565, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_21" } }, { "kind": "clutch_engaged", "time": { "timestamp_ns": 1479292576824773, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "clutch_value": 1.0 } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1479297060155402, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.7526251077651978 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1479301910178061, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.39951157569885254 } }, { "kind": "stage_transition", "time": { "timestamp_ns": 1479303293490613, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_21", "from_stage": "cube_to_plate", "to_stage": "return_to_origin", "completed_prompt": "Pick up the red cube and place it on the plate.", "active_prompt": "Put the object back in its original location." } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1479306626841929, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 1.0 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1479312076836079, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.25763124227523804 } }, { "kind": "segment_end", "time": { "timestamp_ns": 1479314060173468, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_21" } }, { "kind": "segment_start", "time": { "timestamp_ns": 1479326629567960, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_22" } }, { "kind": "clutch_engaged", "time": { "timestamp_ns": 1479327312931645, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "clutch_value": 1.0 } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1479331212902935, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.6271061897277832 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1479334437471600, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.04322338104248047 } }, { "kind": "stage_transition", "time": { "timestamp_ns": 1479336127755303, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_22", "from_stage": "cube_to_plate", "to_stage": "return_to_origin", "completed_prompt": "Pick up the red cube and place it on the plate.", "active_prompt": "Put the object back in its original location." } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1479338141985672, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 1.0 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1479341501092097, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.15775328874588013 } }, { "kind": "segment_end", "time": { "timestamp_ns": 1479343701088072, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_22" } }, { "kind": "segment_start", "time": { "timestamp_ns": 1479349303186576, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_23" } }, { "kind": "clutch_engaged", "time": { "timestamp_ns": 1479349501823875, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "clutch_value": 1.0 } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1479354015192358, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.9743589758872986 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1479358866850691, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.17216110229492188 } }, { "kind": "stage_transition", "time": { "timestamp_ns": 1479360303589432, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_23", "from_stage": "cube_to_plate", "to_stage": "return_to_origin", "completed_prompt": "Pick up the red cube and place it on the plate.", "active_prompt": "Put the object back in its original location." } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1479363248501598, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.6112331748008728 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1479367348502880, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.27521365880966187 } }, { "kind": "segment_end", "time": { "timestamp_ns": 1479369181841922, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_23" } }, { "kind": "segment_start", "time": { "timestamp_ns": 1479380805013894, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_24" } }, { "kind": "clutch_engaged", "time": { "timestamp_ns": 1479380988323912, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "clutch_value": 1.0 } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1479387554982585, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.958730161190033 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1479390788340783, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.24493277072906494 } }, { "kind": "stage_transition", "time": { "timestamp_ns": 1479392738345201, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_24", "from_stage": "cube_to_plate", "to_stage": "return_to_origin", "completed_prompt": "Pick up the red cube and place it on the plate.", "active_prompt": "Put the object back in its original location." } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1479394571689982, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.995604395866394 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1479398088317725, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.25347983837127686 } }, { "kind": "segment_end", "time": { "timestamp_ns": 1479401138314622, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_24" } }, { "kind": "segment_start", "time": { "timestamp_ns": 1479415505386281, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_25" } }, { "kind": "clutch_engaged", "time": { "timestamp_ns": 1479415788641366, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "clutch_value": 0.8263736367225647 } }, { "kind": "clutch_released", "time": { "timestamp_ns": 1479420821955817, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "reason": "release" } }, { "kind": "segment_end", "time": { "timestamp_ns": 1479421438618814, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_25" } }, { "kind": "segment_discarded", "time": { "timestamp_ns": 1479428471988033, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_25" } }, { "kind": "segment_start", "time": { "timestamp_ns": 1479445048041346, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_26" } }, { "kind": "clutch_engaged", "time": { "timestamp_ns": 1479445248033513, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "clutch_value": 0.8529914617538452 } }, { "kind": "segment_end", "time": { "timestamp_ns": 1479450414748956, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_26" } }, { "kind": "segment_discarded", "time": { "timestamp_ns": 1479456181390137, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_26" } }, { "kind": "segment_start", "time": { "timestamp_ns": 1479464631407244, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_27" } }, { "kind": "clutch_engaged", "time": { "timestamp_ns": 1479465031410579, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "clutch_value": 0.7645909786224365 } }, { "kind": "clutch_released", "time": { "timestamp_ns": 1479471398038513, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "reason": "release" } }, { "kind": "segment_end", "time": { "timestamp_ns": 1479471414722300, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_27" } }, { "kind": "segment_discarded", "time": { "timestamp_ns": 1479475731387758, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_27" } }, { "kind": "segment_start", "time": { "timestamp_ns": 1479485414761404, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_28" } }, { "kind": "clutch_engaged", "time": { "timestamp_ns": 1479485931410173, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "clutch_value": 0.7369962930679321 } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1479492081390768, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 1.0 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1479495748052019, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.09914523363113403 } }, { "kind": "stage_transition", "time": { "timestamp_ns": 1479496948027246, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_28", "from_stage": "cube_to_plate", "to_stage": "return_to_origin", "completed_prompt": "Pick up the red cube and place it on the plate.", "active_prompt": "Put the object back in its original location." } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1479498823605874, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.9658119678497314 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1479502398032673, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.013675153255462646 } }, { "kind": "segment_end", "time": { "timestamp_ns": 1479504148077741, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_28" } }, { "kind": "segment_start", "time": { "timestamp_ns": 1479511918838128, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_29" } }, { "kind": "clutch_engaged", "time": { "timestamp_ns": 1479512602174072, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "clutch_value": 1.0 } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1479516118841750, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 1.0 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1479519485530135, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.0 } }, { "kind": "stage_transition", "time": { "timestamp_ns": 1479521168865911, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_29", "from_stage": "cube_to_plate", "to_stage": "return_to_origin", "completed_prompt": "Pick up the red cube and place it on the plate.", "active_prompt": "Put the object back in its original location." } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1479523265374639, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.6688644886016846 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1479527669145273, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.2730158567428589 } }, { "kind": "segment_end", "time": { "timestamp_ns": 1479529045366646, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_29" } }, { "kind": "segment_start", "time": { "timestamp_ns": 1479540881151116, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_30" } }, { "kind": "clutch_engaged", "time": { "timestamp_ns": 1479541064481675, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "clutch_value": 1.0 } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1479544164477164, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.8942613005638123 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1479547264446496, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.01562875509262085 } }, { "kind": "stage_transition", "time": { "timestamp_ns": 1479548914481361, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_30", "from_stage": "cube_to_plate", "to_stage": "return_to_origin", "completed_prompt": "Pick up the red cube and place it on the plate.", "active_prompt": "Put the object back in its original location." } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1479552114484402, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 1.0 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1479556029311446, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.0 } }, { "kind": "clutch_released", "time": { "timestamp_ns": 1479557598204784, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "reason": "release" } }, { "kind": "segment_end", "time": { "timestamp_ns": 1479558448145548, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_30" } }, { "kind": "segment_start", "time": { "timestamp_ns": 1479568455103883, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_31" } }, { "kind": "clutch_engaged", "time": { "timestamp_ns": 1479569305131310, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "clutch_value": 1.0 } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1479572888436495, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 1.0 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1479577138431392, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.31794869899749756 } }, { "kind": "stage_transition", "time": { "timestamp_ns": 1479578280368711, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_31", "from_stage": "cube_to_plate", "to_stage": "return_to_origin", "completed_prompt": "Pick up the red cube and place it on the plate.", "active_prompt": "Put the object back in its original location." } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1479580355097947, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.654456615447998 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1479584205103141, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.2766788601875305 } }, { "kind": "clutch_released", "time": { "timestamp_ns": 1479585688469299, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "reason": "release" } }, { "kind": "segment_end", "time": { "timestamp_ns": 1479586321789408, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_31" } }, { "kind": "segment_start", "time": { "timestamp_ns": 1479598404686932, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_32" } }, { "kind": "clutch_engaged", "time": { "timestamp_ns": 1479598829734380, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "clutch_value": 0.6007325649261475 } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1479601668696153, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.9936507940292358 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1479604982537101, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.21514034271240234 } }, { "kind": "stage_transition", "time": { "timestamp_ns": 1479605701055995, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_32", "from_stage": "cube_to_plate", "to_stage": "return_to_origin", "completed_prompt": "Pick up the red cube and place it on the plate.", "active_prompt": "Put the object back in its original location." } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1479607824021878, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 1.0 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1479611395426837, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.23760676383972168 } }, { "kind": "clutch_released", "time": { "timestamp_ns": 1479612562097285, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "reason": "release" } }, { "kind": "segment_end", "time": { "timestamp_ns": 1479613428768130, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_32" } }, { "kind": "segment_start", "time": { "timestamp_ns": 1479627624407788, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_33" } }, { "kind": "clutch_engaged", "time": { "timestamp_ns": 1479628322354122, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "clutch_value": 0.8537240624427795 } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1479633123254462, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.9743589758872986 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1479637173261796, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.08571422100067139 } }, { "kind": "stage_transition", "time": { "timestamp_ns": 1479638506575573, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_33", "from_stage": "cube_to_plate", "to_stage": "return_to_origin", "completed_prompt": "Pick up the red cube and place it on the plate.", "active_prompt": "Put the object back in its original location." } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1479641839913899, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.8693528771400452 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1479646573240489, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.04517698287963867 } }, { "kind": "clutch_released", "time": { "timestamp_ns": 1479648056572560, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "reason": "release" } }, { "kind": "segment_end", "time": { "timestamp_ns": 1479648506574854, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_33" } }, { "kind": "segment_start", "time": { "timestamp_ns": 1479666789494814, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_34" } }, { "kind": "clutch_engaged", "time": { "timestamp_ns": 1479667300480414, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "clutch_value": 1.0 } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1479671735936923, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 1.0 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1479676106577431, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.20781433582305908 } }, { "kind": "stage_transition", "time": { "timestamp_ns": 1479677467881122, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_34", "from_stage": "cube_to_plate", "to_stage": "return_to_origin", "completed_prompt": "Pick up the red cube and place it on the plate.", "active_prompt": "Put the object back in its original location." } }, { "kind": "segment_end", "time": { "timestamp_ns": 1479680986283225, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_34" } }, { "kind": "segment_discarded", "time": { "timestamp_ns": 1479686554379212, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_34" } }, { "kind": "segment_start", "time": { "timestamp_ns": 1479698491683628, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_35" } }, { "kind": "clutch_engaged", "time": { "timestamp_ns": 1479698935791654, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "clutch_value": 0.8383394479751587 } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1479704087059731, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 1.0 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1479704937038864, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.21709394454956055 } }, { "kind": "segment_end", "time": { "timestamp_ns": 1479705353762121, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_35" } }, { "kind": "segment_discarded", "time": { "timestamp_ns": 1479711137109997, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_35" } }, { "kind": "segment_start", "time": { "timestamp_ns": 1479723710197450, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_36" } }, { "kind": "clutch_engaged", "time": { "timestamp_ns": 1479724980198292, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "clutch_value": 1.0 } }, { "kind": "clutch_released", "time": { "timestamp_ns": 1479729845173182, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "reason": "release" } }, { "kind": "segment_end", "time": { "timestamp_ns": 1479729861844162, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_36" } }, { "kind": "segment_discarded", "time": { "timestamp_ns": 1479734295198509, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_36" } }, { "kind": "segment_start", "time": { "timestamp_ns": 1479745803737071, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_37" } }, { "kind": "clutch_engaged", "time": { "timestamp_ns": 1479746460715735, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "clutch_value": 0.6014651656150818 } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1479750655492150, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 1.0 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1479753983449190, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.15238088369369507 } }, { "kind": "stage_transition", "time": { "timestamp_ns": 1479755707570646, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_37", "from_stage": "cube_to_plate", "to_stage": "return_to_origin", "completed_prompt": "Pick up the red cube and place it on the plate.", "active_prompt": "Put the object back in its original location." } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1479757875021502, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 1.0 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1479761864967056, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.2637362480163574 } }, { "kind": "clutch_released", "time": { "timestamp_ns": 1479763088030030, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "reason": "release" } }, { "kind": "segment_end", "time": { "timestamp_ns": 1479763507860189, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_37" } }, { "kind": "segment_start", "time": { "timestamp_ns": 1479777181981225, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_38" } }, { "kind": "clutch_engaged", "time": { "timestamp_ns": 1479777621130262, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "clutch_value": 0.8117215633392334 } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1479780994419012, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 1.0 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1479783488853852, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.005128145217895508 } }, { "kind": "stage_transition", "time": { "timestamp_ns": 1479784811128402, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_38", "from_stage": "cube_to_plate", "to_stage": "return_to_origin", "completed_prompt": "Pick up the red cube and place it on the plate.", "active_prompt": "Put the object back in its original location." } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1479786926018116, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 1.0 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1479790038278019, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.0 } }, { "kind": "clutch_released", "time": { "timestamp_ns": 1479790871612088, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "reason": "release" } }, { "kind": "segment_end", "time": { "timestamp_ns": 1479791138297957, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_38" } }, { "kind": "segment_start", "time": { "timestamp_ns": 1479802532372766, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_39" } }, { "kind": "clutch_engaged", "time": { "timestamp_ns": 1479802810921466, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "clutch_value": 1.0 } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1479807533049354, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 1.0 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1479811281940046, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.12771666049957275 } }, { "kind": "clutch_released", "time": { "timestamp_ns": 1479813195600971, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "reason": "release" } }, { "kind": "segment_end", "time": { "timestamp_ns": 1479813229547231, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_39" } }, { "kind": "segment_discarded", "time": { "timestamp_ns": 1479817993556294, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_39" } }, { "kind": "segment_start", "time": { "timestamp_ns": 1479828639447186, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_40" } }, { "kind": "clutch_engaged", "time": { "timestamp_ns": 1479829189465222, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "clutch_value": 0.6559218168258667 } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1479833872805984, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.8495726585388184 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1479837446211525, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.08449321985244751 } }, { "kind": "stage_transition", "time": { "timestamp_ns": 1479839181193861, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_40", "from_stage": "cube_to_plate", "to_stage": "return_to_origin", "completed_prompt": "Pick up the red cube and place it on the plate.", "active_prompt": "Put the object back in its original location." } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1479841741024637, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.9333333373069763 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1479845991372897, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.20634913444519043 } }, { "kind": "clutch_released", "time": { "timestamp_ns": 1479847877564015, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "reason": "release" } }, { "kind": "segment_end", "time": { "timestamp_ns": 1479848284345425, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_40" } }, { "kind": "segment_start", "time": { "timestamp_ns": 1479860813895305, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_41" } }, { "kind": "clutch_engaged", "time": { "timestamp_ns": 1479861110801948, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "clutch_value": 0.6449328660964966 } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1479864184785284, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.8048839569091797 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1479867969278187, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.16874229907989502 } }, { "kind": "stage_transition", "time": { "timestamp_ns": 1479869169260324, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_41", "from_stage": "cube_to_plate", "to_stage": "return_to_origin", "completed_prompt": "Pick up the red cube and place it on the plate.", "active_prompt": "Put the object back in its original location." } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1479871802597105, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 1.0 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1479876232528157, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.3614163398742676 } }, { "kind": "clutch_released", "time": { "timestamp_ns": 1479877665506555, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "reason": "release" } }, { "kind": "segment_end", "time": { "timestamp_ns": 1479878037663827, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_41" } }, { "kind": "segment_start", "time": { "timestamp_ns": 1479891615929823, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_42" } }, { "kind": "clutch_engaged", "time": { "timestamp_ns": 1479892215212296, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "clutch_value": 1.0 } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1479896984683847, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.7829059362411499 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1479900368026706, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.07081800699234009 } }, { "kind": "stage_transition", "time": { "timestamp_ns": 1479901684679238, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_42", "from_stage": "cube_to_plate", "to_stage": "return_to_origin", "completed_prompt": "Pick up the red cube and place it on the plate.", "active_prompt": "Put the object back in its original location." } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1479903701347181, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 1.0 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1479906984705255, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.19926732778549194 } }, { "kind": "segment_end", "time": { "timestamp_ns": 1479907985119638, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_42" } }, { "kind": "segment_discarded", "time": { "timestamp_ns": 1479913678339185, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_42" } }, { "kind": "segment_start", "time": { "timestamp_ns": 1479932387498734, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_43" } }, { "kind": "clutch_engaged", "time": { "timestamp_ns": 1479932795304071, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "clutch_value": 0.8827838897705078 } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1479936180616463, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 1.0 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1479939780609352, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.39755797386169434 } }, { "kind": "stage_transition", "time": { "timestamp_ns": 1479941147305079, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_43", "from_stage": "cube_to_plate", "to_stage": "return_to_origin", "completed_prompt": "Pick up the red cube and place it on the plate.", "active_prompt": "Put the object back in its original location." } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1479943680653164, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.7413918972015381 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1479947198720228, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.11404144763946533 } }, { "kind": "clutch_released", "time": { "timestamp_ns": 1479948382484372, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "reason": "release" } }, { "kind": "segment_end", "time": { "timestamp_ns": 1479948630738657, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_43" } }, { "kind": "segment_start", "time": { "timestamp_ns": 1479960426289160, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_44" } }, { "kind": "clutch_engaged", "time": { "timestamp_ns": 1479961010518616, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "clutch_value": 0.8437118530273438 } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1479964971665006, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.7860805988311768 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1479968371746180, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.2678876519203186 } }, { "kind": "stage_transition", "time": { "timestamp_ns": 1479969238296964, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_44", "from_stage": "cube_to_plate", "to_stage": "return_to_origin", "completed_prompt": "Pick up the red cube and place it on the plate.", "active_prompt": "Put the object back in its original location." } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1479971121624257, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 1.0 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1479974571634527, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.21245414018630981 } }, { "kind": "clutch_released", "time": { "timestamp_ns": 1479976138293999, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "reason": "release" } }, { "kind": "segment_end", "time": { "timestamp_ns": 1479976554965748, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_44" } }, { "kind": "segment_start", "time": { "timestamp_ns": 1479985200110270, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_45" } }, { "kind": "clutch_engaged", "time": { "timestamp_ns": 1479986124847965, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "clutch_value": 0.7704517841339111 } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1479990808163843, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.9404151439666748 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1479994058145414, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.11623924970626831 } }, { "kind": "stage_transition", "time": { "timestamp_ns": 1479995558166729, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_45", "from_stage": "cube_to_plate", "to_stage": "return_to_origin", "completed_prompt": "Pick up the red cube and place it on the plate.", "active_prompt": "Put the object back in its original location." } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1479998241474305, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.6888889074325562 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1480001841505733, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.2974358797073364 } }, { "kind": "clutch_released", "time": { "timestamp_ns": 1480003091479953, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "reason": "release" } }, { "kind": "segment_end", "time": { "timestamp_ns": 1480003424830743, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_45" } }, { "kind": "segment_start", "time": { "timestamp_ns": 1480012848062812, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_46" } }, { "kind": "clutch_engaged", "time": { "timestamp_ns": 1480013369119497, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "clutch_value": 0.9213675260543823 } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1480017228511512, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.6222221851348877 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1480020045124063, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.08424901962280273 } }, { "kind": "stage_transition", "time": { "timestamp_ns": 1480021311784568, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_46", "from_stage": "cube_to_plate", "to_stage": "return_to_origin", "completed_prompt": "Pick up the red cube and place it on the plate.", "active_prompt": "Put the object back in its original location." } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1480023337172103, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 1.0 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1480026881698542, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.0 } }, { "kind": "segment_end", "time": { "timestamp_ns": 1480028081716150, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_46" } }, { "kind": "segment_start", "time": { "timestamp_ns": 1480035229468874, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_47" } }, { "kind": "clutch_engaged", "time": { "timestamp_ns": 1480035779477622, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "clutch_value": 0.6810745000839233 } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1480040279484644, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.6273504495620728 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1480043775724839, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.2503052353858948 } }, { "kind": "stage_transition", "time": { "timestamp_ns": 1480045112801259, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_47", "from_stage": "cube_to_plate", "to_stage": "return_to_origin", "completed_prompt": "Pick up the red cube and place it on the plate.", "active_prompt": "Put the object back in its original location." } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1480048196115774, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.6820513010025024 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1480051762783420, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.12844926118850708 } }, { "kind": "clutch_released", "time": { "timestamp_ns": 1480053046130154, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "reason": "release" } }, { "kind": "segment_end", "time": { "timestamp_ns": 1480053412801915, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_47" } }, { "kind": "segment_start", "time": { "timestamp_ns": 1480072148162444, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_48" } }, { "kind": "clutch_engaged", "time": { "timestamp_ns": 1480072756528910, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "clutch_value": 1.0 } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1480076535784054, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.9272283315658569 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1480079014422781, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.17118430137634277 } }, { "kind": "stage_transition", "time": { "timestamp_ns": 1480080525033885, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_48", "from_stage": "cube_to_plate", "to_stage": "return_to_origin", "completed_prompt": "Pick up the red cube and place it on the plate.", "active_prompt": "Put the object back in its original location." } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1480082812756914, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.6420024633407593 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1480086921250054, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.38363856077194214 } }, { "kind": "clutch_released", "time": { "timestamp_ns": 1480088235117476, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "reason": "release" } }, { "kind": "segment_end", "time": { "timestamp_ns": 1480088734194273, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_48" } }, { "kind": "segment_start", "time": { "timestamp_ns": 1480102618216632, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_49" } }, { "kind": "clutch_engaged", "time": { "timestamp_ns": 1480103144343287, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "clutch_value": 0.8300366401672363 } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1480105779221199, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.6603174209594727 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1480108669114333, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.0 } }, { "kind": "stage_transition", "time": { "timestamp_ns": 1480110080843542, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_49", "from_stage": "cube_to_plate", "to_stage": "return_to_origin", "completed_prompt": "Pick up the red cube and place it on the plate.", "active_prompt": "Put the object back in its original location." } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1480111980926874, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.610988974571228 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1480116016938316, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.2617826461791992 } }, { "kind": "clutch_released", "time": { "timestamp_ns": 1480117100201576, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "reason": "release" } }, { "kind": "segment_end", "time": { "timestamp_ns": 1480117513835017, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_49" } }, { "kind": "segment_start", "time": { "timestamp_ns": 1480129238487561, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_50" } }, { "kind": "clutch_engaged", "time": { "timestamp_ns": 1480129611285108, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "clutch_value": 1.0 } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1480132961212093, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.94017094373703 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1480135677870396, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.0 } }, { "kind": "stage_transition", "time": { "timestamp_ns": 1480136777896907, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_50", "from_stage": "cube_to_plate", "to_stage": "return_to_origin", "completed_prompt": "Pick up the red cube and place it on the plate.", "active_prompt": "Put the object back in its original location." } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1480138093917698, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.9650793671607971 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1480140646717931, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.10305243730545044 } }, { "kind": "clutch_released", "time": { "timestamp_ns": 1480141261203153, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "reason": "release" } }, { "kind": "segment_end", "time": { "timestamp_ns": 1480141511205877, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_50" } }, { "kind": "segment_start", "time": { "timestamp_ns": 1480145981421585, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_51" } }, { "kind": "clutch_engaged", "time": { "timestamp_ns": 1480146717196296, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "clutch_value": 0.8590964674949646 } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1480150682044726, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 1.0 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1480153298712143, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.07448101043701172 } }, { "kind": "stage_transition", "time": { "timestamp_ns": 1480154198693881, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_51", "from_stage": "cube_to_plate", "to_stage": "return_to_origin", "completed_prompt": "Pick up the red cube and place it on the plate.", "active_prompt": "Put the object back in its original location." } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1480156005555183, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.8107447624206543 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1480158882288457, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.05860799551010132 } }, { "kind": "clutch_released", "time": { "timestamp_ns": 1480159948688101, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "reason": "release" } }, { "kind": "segment_end", "time": { "timestamp_ns": 1480160198718606, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_51" } }, { "kind": "segment_start", "time": { "timestamp_ns": 1480169257548887, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_52" } }, { "kind": "clutch_engaged", "time": { "timestamp_ns": 1480169724467739, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "clutch_value": 1.0 } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1480173172747270, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.9409035444259644 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1480175648017019, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.0 } }, { "kind": "stage_transition", "time": { "timestamp_ns": 1480177284205412, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_52", "from_stage": "cube_to_plate", "to_stage": "return_to_origin", "completed_prompt": "Pick up the red cube and place it on the plate.", "active_prompt": "Put the object back in its original location." } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1480179137068470, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.9340659379959106 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1480182617450078, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.11746025085449219 } }, { "kind": "segment_end", "time": { "timestamp_ns": 1480183868326440, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_52" } }, { "kind": "segment_start", "time": { "timestamp_ns": 1480202448981218, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_53" } }, { "kind": "clutch_engaged", "time": { "timestamp_ns": 1480202932106884, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "clutch_value": 0.6280829906463623 } }, { "kind": "segment_end", "time": { "timestamp_ns": 1480206398752095, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_53" } }, { "kind": "segment_discarded", "time": { "timestamp_ns": 1480210982083217, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_53" } }, { "kind": "segment_start", "time": { "timestamp_ns": 1480217865414566, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_54" } }, { "kind": "clutch_engaged", "time": { "timestamp_ns": 1480218502612679, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "clutch_value": 0.6622710227966309 } }, { "kind": "clutch_released", "time": { "timestamp_ns": 1480222832086294, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "reason": "release" } }, { "kind": "segment_end", "time": { "timestamp_ns": 1480222865421443, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_54" } }, { "kind": "segment_discarded", "time": { "timestamp_ns": 1480227465437352, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_54" } }, { "kind": "segment_start", "time": { "timestamp_ns": 1480236567213089, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_55" } }, { "kind": "clutch_engaged", "time": { "timestamp_ns": 1480236929395363, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "clutch_value": 1.0 } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1480241595127421, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.9909645915031433 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1480244333061426, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.1440780758857727 } }, { "kind": "stage_transition", "time": { "timestamp_ns": 1480246274891248, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_55", "from_stage": "cube_to_plate", "to_stage": "return_to_origin", "completed_prompt": "Pick up the red cube and place it on the plate.", "active_prompt": "Put the object back in its original location." } }, { "kind": "gripper_close", "time": { "timestamp_ns": 1480248277606763, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.9660561680793762 } }, { "kind": "gripper_open", "time": { "timestamp_ns": 1480251694029677, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "gripper_value": 0.0 } }, { "kind": "clutch_released", "time": { "timestamp_ns": 1480253010706466, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "reason": "release" } }, { "kind": "segment_end", "time": { "timestamp_ns": 1480253410701879, "clock_domain": "monotonic", "synchronized_to": null, "uncertainty_ns": null }, "data": { "segment_id": "seg_55" } } ], "outcome": null, "recording_state": "finalized", "time_range": { "start_ns": 1478569518621326, "end_ns": 1480253410701880, "clock_domain": "monotonic" }, "store_version": "1.0" }, "payload_ref": null, "provenance": { "producer": { "node_type": "teleop.episode-recorder/v0", "node_version": "0.1", "implementation_digest": null, "worker": null, "model": null }, "inputs": [], "parameters_digest": null, "environment": null, "sources": [], "created": null, "supersedes": null }, "frame_context": null, "confidence": null, "validation": "passed" }