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filter=lfs diff=lfs merge=lfs -text -public/samples/s0280_abae7512_l_258/left_t-15.jpg filter=lfs diff=lfs merge=lfs -text -public/samples/s0280_abae7512_l_258/left_t-30.jpg filter=lfs diff=lfs merge=lfs -text -public/samples/s0280_abae7512_l_258/left_t.jpg filter=lfs diff=lfs merge=lfs -text +*.webm filter=lfs diff=lfs merge=lfs -text diff --git a/README.md b/README.md index 5d533ec3cf3a2ab84a378d02ca8f5cc75f645e7a..d35cb0529ddc974a6a2b1b642503d5f2c3a1a143 100644 --- a/README.md +++ b/README.md @@ -1,53 +1,26 @@ --- -title: ABC Grasp Prediction Review +title: ABC Grasp Evaluation emoji: 🤖 colorFrom: blue colorTo: green sdk: static app_file: index.html fullWidth: true -short_description: Robot pickup predictions, images, and recorded outcomes +short_description: Agent predictions and world-model grasp rollouts --- -# ABC grasp benchmark — model evaluation +# ABC Grasp Evaluation -Interactive review of 306 robot pickup scenes with camera history, planned gripper motion, frozen model predictions, and recorded benchmark outcomes. The four public worked examples are hidden by default and excluded from the 302-sample score. +Current human-confirmed grasp benchmark: 37 successes and 37 failures. -## Available models +- **Agents:** initial images and recorded action targets; 70 scored attempts, + excluding four labeled examples. Success threshold: 0.5. +- **World Models:** generated videos alongside recorded videos; 74 attempts. + Generated outcomes are AI-reviewed with user corrections, not all human-confirmed. -Select a model in the viewer to inspect its predictions, scores, charts, and downloads. Currently available: Astra. +These evaluation sets differ by four examples. Fable5p1 Extra disclosed reading +outside its allowed inputs; the gallery marks this protocol deviation. -## Astra results - -- Accuracy: 146 / 302 (48.34%) -- Brier score: 0.26165 - -## Accuracy breakdown - -| Difficulty | Frames before real close | Correct | Accuracy | -|---|---|---|---| -| At decision | 0–10 | 97 / 206 | 47.09% | -| Early | 30–60 | 49 / 96 | 51.04% | - -| Recorded outcome | Correct | Accuracy | -|---|---|---| -| Success | 86 / 150 | 57.33% | -| Fail | 60 / 152 | 39.47% | - -These scores exclude the four worked examples. Type labels come from the authorized answer metadata, preserved in scored_predictions.jsonl. Public sample JSON contains planned close timing but no explicit type field. The benchmark README documents the timing definitions. - -## Accuracy and calibration - -Both charts keep the original P(success) on the horizontal axis, preserving the distinction between predicted failure and predicted success. The default view shows fraction of correct classifications, with no calibration diagonal. The second view shows actual success frequency, with a perfect-probability-calibration diagonal. Both use ten-percentage-point bins and include counts for all 302 scored samples, excluding worked examples. Sample filters do not change the charts. Sparse bins should be interpreted cautiously. - -## Method and limitations - -Predictions were manually assessed in Codex using public camera contact sheets and motion summaries. Contact-sheet images were resized to 256 × 192; the full joint trajectories and all remaining history frames were not exhaustively inspected. This viewer exposes the supplied images at their original resolution. The probabilities are subjective and uncalibrated; no learned classifier was trained. - -Predictions were frozen before the user authorized access to outcome labels. Scoring excludes four public examples, and the prediction file hash is recorded in score_report.json. Outcomes are automatic proxies based on robot motion, not independent human verification. Performance is approximately chance. - -## Included data - -This Space contains the 3,060 public camera images, public per-sample input JSON, frozen predictions and their reasons, the authorized scored comparisons, and the score report. It does not contain the protected answers folder or future-evidence images. Original benchmark materials are ABC grasp-outcome benchmark v1, validation split; dataset builder commit 9def2b8 per the supplied benchmark documentation. - -The page is static and requires no model inference, server credentials, or external scripts. Select a sample from the sidebar, filter incorrect predictions, switch observation time, or click an image to enlarge it. +The static site contains display predictions, recorded outcomes, and videos. +No inference runs here. Private input packets and detailed review records are +not included. This replaces the previous motion-proxy benchmark display. diff --git a/cosmos3-super-56525-outcomes.json b/cosmos3-super-56525-outcomes.json new file mode 100644 index 0000000000000000000000000000000000000000..48c87f023951644d64de11904b9f49149efb5006 --- /dev/null +++ b/cosmos3-super-56525-outcomes.json @@ -0,0 +1 @@ +{"rows": [{"candidate_id": "7584094d93079ff2", "generated_outcome": "success"}, {"candidate_id": "604d4f56215df917", "generated_outcome": "success"}, {"candidate_id": "ff8b9b5813ffdbe5", "generated_outcome": "success"}, {"candidate_id": "a7856e8c6197d55a", "generated_outcome": "success"}, {"candidate_id": "4b19605d096bcc38", "generated_outcome": "success"}, {"candidate_id": "f658ea3ab85a850a", "generated_outcome": "success"}, {"candidate_id": "fada9b592611ac8d", "generated_outcome": "success"}, {"candidate_id": "61bac130fb58b535", "generated_outcome": "success"}, {"candidate_id": "817e729365023414", "generated_outcome": "success"}, {"candidate_id": "69d0b27c00a2a730", 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"generated_outcome": "success"}, {"candidate_id": "ec8e07ace805df9a", "generated_outcome": "success"}, {"candidate_id": "936216d3d8922cda", "generated_outcome": "failure"}, {"candidate_id": "617af15d9c23fec0", "generated_outcome": "success"}, {"candidate_id": "34d285a80844cee5", "generated_outcome": "success"}, {"candidate_id": "e9657021789b83a0", "generated_outcome": "success"}, {"candidate_id": "ad7d932c87e931a5", "generated_outcome": "success"}, {"candidate_id": "910226ee6f481529", "generated_outcome": "success"}]} \ No newline at end of file diff --git a/index.html b/index.html index 4dccb888d8b28c5c1bd6f24f4fe2abc6bc69e9de..5569f73ef681b6aaff6c51aa18e870548e5492fe 100644 --- a/index.html +++ b/index.html @@ -1,116 +1,25 @@ - - - -Grasp Prediction Review +Grasp Agent Evaluation - - -
ABC grasp benchmark

Grasp Prediction Review

Camera views, model predictions, and recorded answers for each sample.

Overall

Breakdown

Accuracy by difficulty
DifficultyCorrectAccuracy
Accuracy by success / fail
Recorded outcomeCorrectAccuracy

At decision: 0–10 frames before real close. Early: 30–60 frames before real close. Scores cover all 302 evaluated samples, exclude the four worked examples, and stay fixed when filters change.

Accuracy and calibration

All 302 scored samples; four worked examples excluded. Bins span 10 percentage points: lower bound included, upper bound excluded (100% included in the final bin). Empty bins are omitted. Counts show how much evidence supports each point; small bins are uncertain. Charts stay fixed when sample filters change.

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Model prediction
Recorded answer
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Prediction reason

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Camera views

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Click an image to enlarge. The acting wrist is marked below.

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Planned grasp motion

Gripper now   Planned path and closing point

The overlay always shows the decision frame. Commands are held fixed after closure.

Open sample JSON ↗
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-
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show(r){const token=++version;ready=false;abort?.abort();video.pause();video.removeAttribute('src');video.load();if(blob){URL.revokeObjectURL(blob);blob=null;}current=r;$('viewer').hidden=!r;$('empty').hidden=!!r;canvas.getContext('2d').clearRect(0,0,canvas.width,canvas.height);if(!r)return;$('attempt').value=r.agent_id;$('title').textContent=r.task.replaceAll('_',' ');$('identity').textContent=`${r.agent_id} · Pair ${r.pair} · ${r.side} arm`;$('label').textContent=r.label;$('label').className=r.label;$('camera').value=r.side;camera();$('seek').max=r.clip.frames-1;$('seek').value=0;$('play').disabled=true;$('status').textContent='Loading clip…';$('frame').textContent='';$('window').textContent=`Initial frame ${r.observation} · Input actions ${r.action_start}–${r.action_end_inclusive} 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could retain a fold, although the thin plastic may slip."} -{"id": "s0001_3c2d9790_r_777", "success": true, "p_success": 0.64, "reason": "The hanger bar is between the jaws and the short closing motion appears able to clamp it."} -{"id": "s0002_574e02cc_r_1404", "success": false, "p_success": 0.35, "reason": "The jaws approach the plastic holder obliquely without a clearly isolated card edge between them."} -{"id": "s0003_8b0fc929_l_1771", "success": false, "p_success": 0.42, "reason": "Only a thin filter edge reaches the jaw gap and the partial close may not secure it."} -{"id": "s0004_7fe08c80_r_2090", "success": false, "p_success": 0.35, "reason": "The planned lateral sweep carries the gripper away from the visible shoe opening before closing."} -{"id": "s0005_3ad71a45_l_2157", "success": true, "p_success": 0.52, "reason": "The long approach reaches the hanging fabric, but the clip contact is not yet clear."} -{"id": "s0006_e3d7715b_r_443", "success": false, "p_success": 0.32, "reason": "The acting jaws face open rack wires and the rising lateral path lacks a clearly captured bowl rim."} -{"id": "s0007_de247e0f_l_1182", "success": true, "p_success": 0.72, "reason": "The cup is centered between the jaws and the modest downward approach should establish contact around its body."} -{"id": "s0008_229f977d_l_1860", "success": true, "p_success": 0.56, "reason": "The downward approach reaches the bowl at the rack edge, although wire clearance and the final jaw gap are uncertain."} -{"id": "s0009_201ea8d5_r_309", "success": false, "p_success": 0.48, "reason": "The approach reaches the wine-glass rack, but the stem is not yet centered and the partial close leaves uncertain purchase."} -{"id": "s0010_e84d0e9e_r_599", "success": false, "p_success": 0.38, "reason": "The slender utensil is off to one side of the acting jaws and the lateral close risks missing its shaft."} -{"id": "s0011_3ad71a45_l_1965", "success": false, "p_success": 0.48, "reason": "The large sweep approaches the hanging sock but leaves the eventual clip engagement uncertain."} -{"id": "s0012_da30fafe_r_135", "success": true, "p_success": 0.68, "reason": "The shoe heel lies within the jaw opening and the short closing motion should pinch the upper securely."} -{"id": "s0013_60f44a8d_r_1311", "success": true, "p_success": 0.65, "reason": "A substantial fold of trouser fabric fills the jaw gap and little translation is commanded during closure."} -{"id": "s0014_783d143d_r_3872", "success": false, "p_success": 0.44, "reason": "The lateral approach crosses the loaded rack and may contact a plate face or wire rather than isolate a rim."} -{"id": "s0015_9bd892f2_l_2676", "success": false, "p_success": 0.27, "reason": "The acting jaws are aligned with the stand post while the visible phone remains offset to the other side."} -{"id": "s0016_72caa26c_r_1586", "success": true, "p_success": 0.63, "reason": "The descending approach reaches a bottle body within the jaws, with some uncertainty from nearby loose bottles."} -{"id": "s0017_3e3ef71b_l_963", "success": false, "p_success": 0.4, "reason": "The hanging sock remains above the jaw tips and the upward close may catch only its narrow loose edge."} -{"id": "s0018_9fb361dd_l_1215", "success": true, "p_success": 0.53, "reason": "The approach aims toward the suspended sock but the long lateral motion makes the final fabric engagement uncertain."} -{"id": "s0019_02801c08_r_1715", "success": true, "p_success": 0.9, "reason": "The public worked example identifies a centered clip that the rising close securely clamps."} -{"id": "s0020_4b894d76_l_144", "success": true, "p_success": 0.61, "reason": "The planned descent reaches the bouquet near its bundled stems, offering a plausible narrow grasp despite the wrapping."} -{"id": "s0021_4162fb80_l_1197", "success": true, "p_success": 0.67, "reason": "The shoe upper is presented between the jaws and the small final translation should permit a firm pinch."} -{"id": "s0022_6097ea6d_r_2209", "success": false, "p_success": 0.38, "reason": "The round fruit sits ahead of the jaw tips and the short upward partial close risks shallow contact."} -{"id": "s0023_9d438abd_r_2695", "success": false, "p_success": 0.46, "reason": "The bag edge is close to the jaws but the view does not show a strap or fold seated deeply enough for a reliable grip."} -{"id": "s0024_def1f3a4_r_2411", "success": false, "p_success": 0.43, "reason": "The long curved descent passes the luggage edge without a clearly aligned handle in the acting jaw gap."} -{"id": "s0025_639efba9_l_60", "success": true, "p_success": 0.64, "reason": "The forward approach follows the hanging sock and can bring its lower fabric section into the closing jaws."} -{"id": "s0026_a0479839_l_505", "success": false, "p_success": 0.36, "reason": "The gripper starts over the bin and sweeps toward its rim with no clearly isolated bottle body in the jaw opening."} -{"id": "s0027_fc205ec5_r_1500", "success": true, "p_success": 0.6, "reason": "The planned descent reaches the food in the tray and should place a piece between the jaws before closure."} -{"id": "s0028_56cdadbf_l_2087", "success": false, "p_success": 0.37, "reason": "The shirt edge is ahead of the jaws and the large downward motion risks pushing it flat instead of enclosing a fold."} -{"id": "s0029_341d314b_l_2190", "success": true, "p_success": 0.62, "reason": "The shirt corner crosses the jaw opening and the modest downward close can pinch the fabric."} -{"id": "s0030_ef2e66d3_r_266", "success": true, "p_success": 0.58, "reason": "The approach descends toward the visible bottle cluster with sufficient opening to surround a bottle body."} -{"id": "s0031_0ae9b29a_l_93", "success": false, "p_success": 0.36, "reason": "The acting jaws face the rack framework below the bowls and the rising close risks clamping a wire or missing the rim."} -{"id": "s0032_b1279677_r_2138", "success": false, "p_success": 0.4, "reason": "The shirt edge is offset above the jaw gap and may slide away during the downward close."} -{"id": "s0033_eb01da60_r_297", "success": true, "p_success": 0.54, "reason": "The planned sweep returns toward the loose blocks, but the final block alignment is only weakly constrained by the current view."} -{"id": "s0034_1bc8e710_r_1233", "success": false, "p_success": 0.42, "reason": "The upright bottle remains ahead of the open jaws and the small upward motion may leave the close too shallow."} -{"id": "s0035_535f2e48_l_1232", "success": true, "p_success": 0.61, "reason": "The black bag edge is visible across the gripper approach and the closing sweep can gather a fold."} -{"id": "s0036_77729cd0_l_1081", "success": true, "p_success": 0.62, "reason": "The sock edge extends across the approaching jaws and the downward close can capture the fabric below the hanger."} -{"id": "s0037_5f3931f7_r_77", "success": false, "p_success": 0.43, "reason": "The flat card remains on the table ahead of the gripper and the approach may not get a jaw beneath its edge."} -{"id": "s0038_5194b865_r_3505", "success": true, "p_success": 0.67, "reason": "The pen shaft is presented near the center of the jaw gap and the short closing motion should clamp it."} -{"id": "s0039_74f311ab_l_1380", "success": false, "p_success": 0.46, "reason": "The jaws approach the box and package edge together, making an isolated secure pickup uncertain."} -{"id": "s0040_c1ae0126_r_136", "success": true, "p_success": 0.61, "reason": "A bunched shirt section lies in the closing path and provides more material to pinch than a flat edge."} -{"id": "s0041_fce1b18b_l_120", "success": true, "p_success": 0.57, "reason": "The trouser fold is near the jaws and the lateral approach can gather it, although the long sweep could drag the fabric."} -{"id": "s0042_eab39ed1_r_286", "success": false, "p_success": 0.39, "reason": "The thin sheet is poorly seated in the acting jaw gap and the upward lateral close risks sliding past its edge."} -{"id": "s0043_59bd8f7c_r_2238", "success": true, "p_success": 0.63, "reason": "The jaws are positioned beneath the sock and clip area, and the small upward close offers a plausible pinch."} -{"id": "s0044_80e9d4f2_r_1085", "success": false, "p_success": 0.42, "reason": "The jaws approach the soft hat crown near the basket without a clearly isolated stiff brim."} -{"id": "s0045_857c5cd3_l_4161", "success": true, "p_success": 0.59, "reason": "The shirt edge lies across the jaw opening and the nearly stationary close can retain a fold."} -{"id": "s0046_4457a343_r_491", "success": true, "p_success": 0.53, "reason": "The approach moves toward the loose bottles, but clutter and the partial closure leave the final contact uncertain."} -{"id": "s0047_e2706a7a_r_831", "success": true, "p_success": 0.6, "reason": "The descending lateral approach targets a separated block with accessible opposing sides."} -{"id": "s0048_851c71e4_l_3264", "success": false, "p_success": 0.39, "reason": "The bottle is offset toward one jaw and the upward partial close may fail to surround its body."} -{"id": "s0049_df25bf3b_l_1955", "success": false, "p_success": 0.45, "reason": "The large lateral path moves away from the currently visible filter and its thin edge may not remain aligned at closure."} -{"id": "s0050_a43f2ed7_r_180", "success": true, "p_success": 0.57, "reason": "The descent reaches the cookie tray with room for the jaws to surround a cookie, though nearby pieces could interfere."} -{"id": "s0051_0c28c098_r_406", "success": false, "p_success": 0.42, "reason": "The downward approach is crowded by the dripper and the opposing gripper, with no clear isolated filter edge."} -{"id": "s0052_2b47bdf1_l_43", "success": true, "p_success": 0.65, "reason": "The pasta package extends into the jaw opening and the forward descent can clamp its narrow middle."} -{"id": "s0053_7fe08c80_r_1177", "success": true, "p_success": 0.54, "reason": "The planned descent returns from the shelf toward the floor shoes, but the long motion leaves the exact heel contact uncertain."} -{"id": "s0054_4ab71f4f_l_1955", "success": false, "p_success": 0.48, "reason": "The descent targets the phone area, but the flat adjacent phones and partial close make edge capture uncertain."} -{"id": "s0055_e01b6a85_r_858", "success": true, "p_success": 0.63, "reason": "The forward descent aligns the jaws with the isolated yellow block and offers opposing faces to clamp."} -{"id": "s0056_773f0a91_r_366", "success": true, "p_success": 0.57, "reason": "The bag edge lies near the closing path and could be pinched, although the upward motion may reduce purchase."} -{"id": "s0057_3c8d02d9_r_1525", "success": false, "p_success": 0.35, "reason": "The jaws face a broad smooth pillow surface and close quickly without a distinct fold seated between them."} -{"id": "s0058_76d3a792_r_3251", "success": true, "p_success": 0.65, "reason": "The small case handle is close to the jaw opening and the modest approach should allow a firm handle grasp."} -{"id": "s0059_5cc31652_r_1884", "success": false, "p_success": 0.32, "reason": "The rising lateral close moves above the visible dish surface with no rim clearly enclosed by the acting jaws."} -{"id": "s0060_4e3753ec_r_1761", "success": true, "p_success": 0.62, "reason": "The upright phone or case edge is presented between the grippers and the short forward close can clamp it."} -{"id": "s0061_8163928a_l_102", "success": false, "p_success": 0.48, "reason": "The transparent bag lip is near the tips, but its thin edge may slide out during the curved closing motion."} -{"id": "s0062_cdb591e1_l_2315", "success": true, "p_success": 0.61, "reason": "The approach descends toward a can with accessible sides and a final gap consistent with grasping its body."} -{"id": "s0063_fad08c73_r_915", "success": true, "p_success": 0.7, "reason": "The square plate rim is seated between the jaws and the small closing motion should maintain that purchase."} -{"id": "s0064_efac528c_l_2781", "success": false, "p_success": 0.43, "reason": "The filter is stretched between the arms but the acting jaws close only partway on a thin unsupported edge."} -{"id": "s0065_087a6033_r_232", "success": true, "p_success": 0.58, "reason": "The lateral descent brings the gripper toward an exposed plate edge, though final rim depth remains uncertain."} -{"id": "s0066_67363e39_r_1449", "success": false, "p_success": 0.47, "reason": "The planned sweep approaches the stationery but the thin pen is not yet centered in the acting jaws."} -{"id": "s0067_ab243717_r_37", "success": true, "p_success": 0.67, "reason": "A large trouser fold already fills the jaw opening and can be retained as the gripper rises and closes."} -{"id": "s0068_1bc08f3a_l_2899", "success": false, "p_success": 0.38, "reason": "The phone is supported by the other arm while the acting jaws remain offset from its upper edge."} -{"id": "s0069_574e02cc_l_43", "success": false, "p_success": 0.45, "reason": "The long descent reaches a flat card on the table, where getting beneath the thin edge is uncertain."} -{"id": "s0070_cf5dbbb2_l_773", "success": true, "p_success": 0.62, "reason": "The pillowcase lip is accessible around the exposed pillow and the lateral close can pinch that loose fabric."} -{"id": "s0071_9eb3d579_r_1805", "success": true, "p_success": 0.56, "reason": "The small case is presented near the acting jaws, but the opposing gripper and small target leave limited alignment tolerance."} -{"id": "s0072_7ddfc430_l_45", "success": false, "p_success": 0.44, "reason": "The bowl rim sits to one side of the acting jaws and the upward close may leave insufficient rim engagement."} -{"id": "s0073_d2d2b900_r_314", "success": false, "p_success": 0.47, "reason": "The orange is ahead of the jaw tips and the lateral motion risks nudging the round object instead of enclosing it."} -{"id": "s0074_d9e88f2b_r_2888", "success": false, "p_success": 0.34, "reason": "The long backward closing path moves away from the shirt edge visible above the jaws."} -{"id": "s0075_da30fafe_r_3289", "success": true, "p_success": 0.53, "reason": "The curved approach returns toward the shoes on the table, but the final shoe-edge alignment is uncertain."} -{"id": "s0076_a148394d_l_202", "success": true, "p_success": 0.51, "reason": "The descent reaches the cup area beside the coasters, although the handle is not yet visible within the jaws."} -{"id": "s0077_d639ed25_l_861", "success": false, "p_success": 0.48, "reason": "The approach enters the rack toward a cup, but the wires obscure whether a rim can be isolated."} -{"id": "s0078_d8a035dc_r_3907", "success": true, "p_success": 0.56, "reason": "The forward approach reaches the exposed bowl rim on the rack with a plausible clearance for a pinch."} -{"id": "s0079_0edfb730_l_145", "success": false, "p_success": 0.44, "reason": "The lateral descent aims at a thin transparent bag edge whose final placement between the jaws is uncertain."} -{"id": "s0080_1fb60128_l_2836", "success": true, "p_success": 0.64, "reason": "The napkin corner is presented across the jaw opening and the small forward close should capture it."} -{"id": "s0081_cac4e017_r_1928", "success": true, "p_success": 0.64, "reason": "The sneaker heel is close to the jaw opening and the short forward close should pinch the upper."} -{"id": "s0082_639efba9_l_1032", "success": true, "p_success": 0.53, "reason": "The rising lateral approach reaches the hanging socks, but the clip is not yet visible within the acting jaws."} -{"id": "s0083_a487c045_r_1576", "success": true, "p_success": 0.57, "reason": "The laundry-bag edge is accessible and the lateral motion could gather a fold, though the enclosed garment is not isolated."} -{"id": "s0084_6e11d932_l_2128", "success": true, "p_success": 0.68, "reason": "The structured hat brim lies between the jaw tips and the nearly stationary close should hold it."} -{"id": "s0085_536ca306_l_3929", "success": false, "p_success": 0.39, "reason": "The narrow straw bundle is ahead of the gripper and the substantial rise risks closing below or beside it."} -{"id": "s0086_a6032fb9_r_1302", "success": true, "p_success": 0.58, "reason": "The white shirt edge is near the closing jaws and the modest downward motion can pinch a fold."} -{"id": "s0087_536ca306_r_2206", "success": true, "p_success": 0.62, "reason": "The cardboard carrier edge is presented in the jaw gap and can be clamped during the short lateral approach."} -{"id": "s0088_ffcbdb4a_l_579", "success": false, "p_success": 0.46, "reason": "The descent enters a crowded canvas bag and the wide final gap may catch fabric or neighboring bottles instead of securing one."} -{"id": "s0089_d0dea976_l_1743", "success": false, "p_success": 0.42, "reason": "The rapid diagonal descent reaches scattered small stationery with limited time to center an individual object."} -{"id": "s0090_201ea8d5_r_1955", "success": true, "p_success": 0.58, "reason": "The glass stem and rim are near the closing gap and the small translation offers a plausible grasp despite nearby rack hooks."} -{"id": "s0091_31be0bf8_r_1054", "success": true, "p_success": 0.54, "reason": "The bottle body is ahead of the jaws and the modest close may secure it, though contact depth is unclear."} -{"id": "s0092_eb50ba30_l_506", "success": false, "p_success": 0.4, "reason": "The narrow paper edge is nearly parallel to the jaws and may escape during the downward lateral close."} -{"id": "s0093_73992664_r_1084", "success": true, "p_success": 0.61, "reason": "The descending approach targets an exposed red block with space around its sides."} -{"id": "s0094_a921b7fb_l_259", "success": true, "p_success": 0.54, "reason": "The lateral descent reaches the bottle cluster, but neighboring bottles could deflect the target during closure."} -{"id": "s0095_6c74b0e5_l_514", "success": true, "p_success": 0.59, "reason": "The sock hangs close to the jaw opening and the approach can pinch its fabric below the clips."} -{"id": "s0096_151d19a1_l_42", "success": false, "p_success": 0.43, "reason": "The shoe heel is offset from the acting jaw center and the short approach may catch only a shallow upper edge."} -{"id": "s0097_e1e09885_r_778", "success": true, "p_success": 0.57, "reason": "The planned descent reaches the trouser fabric with a plausible pinch point, though its flat placement makes purchase uncertain."} -{"id": "s0098_0a4f3280_l_1543", "success": false, "p_success": 0.45, "reason": "The broad bouquet wrapper obscures the stems and the quick close may catch loose paper rather than the bundle."} -{"id": "s0099_06c2a6a4_l_225", "success": true, "p_success": 0.58, "reason": "The book edge enters the jaw opening and the short descent can establish opposing contact along its thickness."} -{"id": "s0100_e1b618d9_r_4279", "success": false, "p_success": 0.39, "reason": "The acting gripper is close to the stand hardware rather than clearly around the microphone body."} -{"id": "s0101_5b75d3bc_l_1974", "success": false, "p_success": 0.37, "reason": "The large downward motion carries the jaws below the visible flowers, with uncertain contact on the stems rather than the vase."} -{"id": "s0102_4791bf12_r_559", "success": true, "p_success": 0.51, "reason": "The lateral approach reaches the clear cups, but their transparent rims make final jaw placement uncertain."} -{"id": "s0103_35538f49_r_82", "success": false, "p_success": 0.42, "reason": "The path leaves the current food area and ends without a clearly visible object enclosed by the partial close."} -{"id": "s0104_3657d861_l_835", "success": false, "p_success": 0.4, "reason": "The jaws face plastic sleeves rather than an isolated card and may pinch the holder instead of extracting the card."} -{"id": "s0105_a487c045_r_1417", "success": true, "p_success": 0.63, "reason": "The garment or bag edge is already close to the jaws and the nearly stationary close should capture a fold."} -{"id": "s0106_2224bb63_l_1159", "success": false, "p_success": 0.46, "reason": "The long approach targets a small brooch on the garment, requiring finer alignment than the current view establishes."} -{"id": "s0107_b73b8b9a_r_1487", "success": true, "p_success": 0.67, "reason": "The plate rim is accessible beside the rack and the short forward descent should bring it between the jaws."} -{"id": "s0108_d1a409ed_l_981", "success": true, "p_success": 0.58, "reason": "The filter edge is presented by the other gripper and the forward close can pinch the exposed paper."} -{"id": "s0109_211e151e_r_868", "success": false, "p_success": 0.43, "reason": "The lateral rise heads toward the counter while the acting jaws do not yet surround a visible can."} -{"id": "s0110_ed9685d6_r_3245", "success": true, "p_success": 0.72, "reason": "The stand tube is centered between the jaws and the short close should clamp the narrow rigid shaft."} -{"id": "s0111_a0fd5537_l_2471", "success": true, "p_success": 0.6, "reason": "The upright photo edge passes through the jaw opening and the rising close can retain it."} -{"id": "s0112_144a9b9a_r_825", "success": true, "p_success": 0.9, "reason": "The public worked example identifies a planned close that securely clamps the exposed blue plate rim."} -{"id": "s0113_6e11d932_l_4669", "success": true, "p_success": 0.61, "reason": "The stitched brim lies across the jaw opening and offers a firmer pinch point than the crown."} -{"id": "s0114_cac4e017_l_2724", "success": false, "p_success": 0.42, "reason": "The approach reaches the shoe area but the wide final gap and nearby opposing arm make secure upper contact uncertain."} -{"id": "s0115_19a97324_l_4405", "success": false, "p_success": 0.43, "reason": "The large descending sweep follows the bag surface, but the partial closure may not firmly pinch a handle or fold."} -{"id": "s0116_1bceaa4a_l_782", "success": true, "p_success": 0.68, "reason": "The white plug body is presented between the jaws and the small closing displacement should retain it."} -{"id": "s0117_6fd26635_l_898", "success": false, "p_success": 0.34, "reason": "The long lateral path ends near the container while the visible tools remain away from the acting jaw gap."} -{"id": "s0118_d7e22fa3_r_1827", "success": true, "p_success": 0.61, "reason": "The folded napkin edge is presented near the jaws and the modest forward descent can secure a fold."} -{"id": "s0119_291e3ce8_l_3063", "success": true, "p_success": 0.64, "reason": "The shirt fabric extends into the jaw opening and a short downward close should retain it."} -{"id": "s0120_06c2a6a4_r_2323", "success": true, "p_success": 0.73, "reason": "The upright book is deeply seated between the jaws with broad opposing surfaces for a firm clamp."} -{"id": "s0121_13fa6f16_r_660", "success": true, "p_success": 0.66, "reason": "The slender utensil shafts are aligned in the jaw gap and the short close should hold them."} -{"id": "s0122_adf63b5a_r_2768", "success": false, "p_success": 0.43, "reason": "The rapid forward descent follows a moving towel edge and may close before a stable fold is seated."} -{"id": "s0123_de975454_r_3029", "success": false, "p_success": 0.41, "reason": "The snack packet sits above the jaw tips and the nearly stationary close may pinch the paper bag instead."} -{"id": "s0124_28b36a8a_r_1809", "success": false, "p_success": 0.35, "reason": "The descending path is over the empty lid area rather than clearly aligned with a chocolate piece."} -{"id": "s0125_4b2c8d30_l_853", "success": true, "p_success": 0.59, "reason": "The downward approach reaches the hanging sock below the rack and offers an accessible fabric pinch."} -{"id": "s0126_e1b618d9_l_5844", "success": false, "p_success": 0.36, "reason": "The jaws are crowded by the stand clamp and shaft while the microphone body is above the apparent grasp point."} -{"id": "s0127_eba3e1c6_r_1128", "success": true, "p_success": 0.61, "reason": "The shirt sleeve hangs into the closing region and the lateral approach can capture a substantial fold."} -{"id": "s0128_10c9120d_l_732", "success": true, "p_success": 0.69, "reason": "The rigid hanger bar is clearly between the jaws and the short closing motion should secure it."} -{"id": "s0129_4a24f295_l_1198", "success": true, "p_success": 0.55, "reason": "The box flap edge is near the jaw tips and could be pinched, though the nearby tool reduces clearance."} -{"id": "s0130_0b4d2400_l_2686", "success": true, "p_success": 0.54, "reason": "The bag film spans the jaw opening and can be pinched, but grasping the intended contents rather than the bag remains uncertain."} -{"id": "s0131_6c74b0e5_l_160", "success": true, "p_success": 0.66, "reason": "The hanging sock is centered near the jaw tips and the small closing motion can retain its fabric."} -{"id": "s0132_ffcbdb4a_l_2316", "success": true, "p_success": 0.62, "reason": "The descent reaches the relatively isolated bottle in the open bag with room to grasp its neck or body."} -{"id": "s0133_cb2f214a_l_1219", "success": true, "p_success": 0.69, "reason": "A thick folded garment section fills the jaw gap and the short descent should secure it."} -{"id": "s0134_de247e0f_r_1642", "success": false, "p_success": 0.44, "reason": "The approach is crowded by the paper bag and cup carrier, obscuring a clean grasp of the intended item."} -{"id": "s0135_670c7cfd_l_2452", "success": true, "p_success": 0.61, "reason": "The descent approaches the shoe heel with open jaws positioned to pinch the upper."} -{"id": "s0136_b8480635_r_161", "success": false, "p_success": 0.37, "reason": "The long lateral sweep leaves the visible card holder and the wide final gap is poorly suited to a thin card edge."} -{"id": "s0137_f21a27ed_l_4013", "success": true, "p_success": 0.59, "reason": "The small charging case is presented near the jaw center and the nearly stationary close can capture its body."} -{"id": "s0138_ed9685d6_r_2506", "success": false, "p_success": 0.43, "reason": "The jaws face the sheet and stand together, risking contact with the support instead of isolating the intended prop."} -{"id": "s0139_4162fb80_l_2996", "success": true, "p_success": 0.62, "reason": "The forward descent follows an accessible shoe opening and should allow a pinch on its upper edge."} -{"id": "s0140_fad08c73_l_1451", "success": true, "p_success": 0.67, "reason": "The upright plate rim is close to the jaw opening and the short close can clamp it with little disturbance."} -{"id": "s0141_dde505d5_r_52", "success": false, "p_success": 0.31, "reason": "The quick descending close begins over the containers and leaves a wide gap without a block clearly between the jaws."} -{"id": "s0142_80e9d4f2_r_887", "success": true, "p_success": 0.54, "reason": "The approach descends toward the hat brim, but the crown and layered fabric make the final purchase uncertain."} -{"id": "s0143_c5902b4f_r_1682", "success": true, "p_success": 0.56, "reason": "The descent reaches the hanging shirt with material available to pinch, though neighboring hangers may interfere."} -{"id": "s0144_f2d7ca7c_l_1344", "success": true, "p_success": 0.63, "reason": "The phone edge is presented between the arms and the closing path can establish opposing contact along it."} -{"id": "s0145_8ab53d08_r_563", "success": false, "p_success": 0.42, "reason": "The phone remains above the jaw tips and the rising close may catch only its shallow lower edge."} -{"id": "s0146_de93f8bb_r_333", "success": true, "p_success": 0.6, "reason": "The zipper strip and bag edge cross the jaw gap and the descending close can clamp that reinforced lip."} -{"id": "s0147_6a133e07_r_1809", "success": true, "p_success": 0.61, "reason": "The cardboard carrier wall is seated near the jaw tips and the modest rising close can retain its edge."} -{"id": "s0148_17e585e7_r_5114", "success": true, "p_success": 0.67, "reason": "The folded paper plane has an exposed central ridge that the descending jaws can pinch."} -{"id": "s0149_7e7b0cb8_l_1588", "success": false, "p_success": 0.48, "reason": "The approach crosses a crowded bowl-and-cup arrangement and may contact more than the intended rim."} -{"id": "s0150_de93f8bb_r_3323", "success": false, "p_success": 0.38, "reason": "The backward sweep moves away from the centered apple before the jaws finish closing."} -{"id": "s0151_3c8d02d9_r_56", "success": true, "p_success": 0.65, "reason": "The pillowcase is bunched between the grippers and the closing motion can secure a substantial fabric fold."} -{"id": "s0152_535f2e48_l_1556", "success": false, "p_success": 0.46, "reason": "The long lateral rise reaches across the loose bag, but the final closure lacks a clearly stable film pinch."} -{"id": "s0153_28d21458_l_1731", "success": false, "p_success": 0.1, "reason": "The public worked example identifies an insecure partial close on the fabric and hanger near the top of the reach."} -{"id": "s0154_df25bf3b_l_2272", "success": false, "p_success": 0.4, "reason": "The acting jaws approach the dripper without a clearly isolated filter edge and may close on the rim or empty space."} -{"id": "s0155_e55cc103_r_3020", "success": true, "p_success": 0.72, "reason": "The paper plane central fold is visibly seated between the jaws and the closing motion should retain it."} -{"id": "s0156_58641195_r_3330", "success": true, "p_success": 0.56, "reason": "The closing sweep follows the bag edge and may gather a fold, though the dark material obscures contact depth."} -{"id": "s0157_3e6588d1_r_625", "success": true, "p_success": 0.64, "reason": "The shoe upper is accessible in front of the jaws and the forward lateral approach can position it for a firm pinch."} -{"id": "s0158_3e3ef71b_r_515", "success": true, "p_success": 0.55, "reason": "The forward rise reaches the hanging sock, but the rack and other gripper constrain clearance near the clip."} -{"id": "s0159_9ee38324_r_396", "success": false, "p_success": 0.35, "reason": "The acting jaws face empty tabletop and the planned endpoint does not clearly enclose the bowl held by the other arm."} -{"id": "s0160_b979041a_l_954", "success": false, "p_success": 0.43, "reason": "The cup is tilted between closely spaced grippers and the approach may catch only the lid edge rather than its body."} -{"id": "s0161_d8a035dc_l_3871", "success": false, "p_success": 0.44, "reason": "The bowl is ahead of the jaw tips and the short upward close may miss its exposed rim."} -{"id": "s0162_8571cadc_r_3053", "success": false, "p_success": 0.35, "reason": "The rack rod occupies the acting jaw opening while the glass hangs off to the side."} -{"id": "s0163_f393f277_l_1704", "success": false, "p_success": 0.34, "reason": "The final commanded opening remains wide for a slender utensil and no handle is centered in the acting jaws."} -{"id": "s0164_6c74b0e5_l_3213", "success": true, "p_success": 0.6, "reason": "The sock cuff is close to the jaw tips and the short approach can pinch it below the clip."} -{"id": "s0165_670c7cfd_l_2750", "success": false, "p_success": 0.43, "reason": "The shoe is above and ahead of the jaw tips and the rising partial close risks shallow contact."} -{"id": "s0166_ab243717_l_486", "success": true, "p_success": 0.66, "reason": "The trouser fold spans the jaw opening and the short downward close should capture enough fabric."} -{"id": "s0167_44f10ba9_r_2568", "success": false, "p_success": 0.4, "reason": "The plate edge is crowded against the plastic rack and the jaw path may hit the support before enclosing the rim."} -{"id": "s0168_da3c148e_l_1306", "success": false, "p_success": 0.38, "reason": "The acting jaws approach the stand hardware with the phone edge obscured by the opposing gripper."} -{"id": "s0169_1c759f54_l_1145", "success": false, "p_success": 0.47, "reason": "The rising lateral sweep crosses a loose bottle cluster, leaving uncertain whether a bottle is captured before being displaced."} -{"id": "s0170_639efba9_l_2444", "success": false, "p_success": 0.41, "reason": "The hanger frame dominates the jaw opening and the sock clip is only shallowly aligned at the tips."} -{"id": "s0171_3e3ef71b_r_212", "success": true, "p_success": 0.57, "reason": "The forward approach reaches the suspended sock and clip area, although the hanger frame limits clearance."} -{"id": "s0172_02801c08_r_2217", "success": true, "p_success": 0.6, "reason": "The narrow clip or fabric edge lies near the centerline and the small downward close can retain it."} -{"id": "s0173_3cc152a2_l_2139", "success": true, "p_success": 0.58, "reason": "The flower stems lie along the approaching jaws and could be clamped below the blossoms despite nearby vase contact."} -{"id": "s0174_f26fd9fb_r_2206", "success": false, "p_success": 0.45, "reason": "The bag film covers the approaching jaws and may be caught before the intended fruit is securely enclosed."} -{"id": "s0175_4e0da4f2_r_1338", "success": false, "p_success": 0.47, "reason": "The gripper approaches the bag mouth obliquely and the intended item is not clearly isolated from the fabric edge."} -{"id": "s0176_f904c81f_r_290", "success": false, "p_success": 0.33, "reason": "The long forward sweep ends beyond the visible objects without a clear item seated between the jaws."} -{"id": "s0177_9fb361dd_l_193", "success": true, "p_success": 0.62, "reason": "The sock and clip are close to the jaw opening and the small upward close offers a plausible secure pinch."} -{"id": "s0178_def1f3a4_l_3806", "success": false, "p_success": 0.44, "reason": "The large lateral descent reaches the suitcase edge with no handle clearly centered in the partially closing jaws."} -{"id": "s0179_a921b7fb_r_2469", "success": true, "p_success": 0.59, "reason": "The bottle body spans the jaw region and the descending close can establish contact, though the bin is crowded."} -{"id": "s0180_2b721695_r_2425", "success": false, "p_success": 0.45, "reason": "The jaws approach the bag edge beside the basket while the intended food remains obscured by plastic."} -{"id": "s0181_c414104e_l_457", "success": true, "p_success": 0.61, "reason": "The black shirt corner lies across the closing jaw region and the short forward motion can capture it."} -{"id": "s0182_f200079e_l_2586", "success": true, "p_success": 0.68, "reason": "A bunched section of shirt is presented between the jaws and the descent should establish a substantial pinch."} -{"id": "s0183_8e282731_l_2431", "success": true, "p_success": 0.67, "reason": "The bottle body is centered between the open jaws and the small displacement should preserve alignment during closure."} -{"id": "s0184_d8a035dc_l_237", "success": false, "p_success": 0.47, "reason": "The diagonal descent passes beneath the rack toward a bowl, but the other gripper and rack legs obscure clean rim access."} -{"id": "s0185_9f523d1d_l_1804", "success": true, "p_success": 0.58, "reason": "The approach follows a raised shirt fold that can enter the jaws, though the longer path may drag it."} -{"id": "s0186_2e1d34ec_r_836", "success": true, "p_success": 0.54, "reason": "The descent reaches graspable blocks, but overlapping pieces leave the target and opposing contacts uncertain."} -{"id": "s0187_9a8ca9d4_r_551", "success": false, "p_success": 0.45, "reason": "The long lateral sweep moves from the bin toward the other arm with uncertain capture of a single bottle."} -{"id": "s0188_02801c08_l_1522", "success": true, "p_success": 0.63, "reason": "The narrow clip is presented close to the jaw center and the modest closing motion should retain it."} -{"id": "s0189_0bc1bd7e_r_377", "success": true, "p_success": 0.52, "reason": "The bag film reaches the closing region, but the upward motion may pull the jaws away before a deep fold is secured."} -{"id": "s0190_cfe85fb7_l_487", "success": true, "p_success": 0.58, "reason": "The sock hangs near the approaching jaws and the modest forward close can pinch its fabric below the clip."} -{"id": "s0191_fe0cd63d_r_1390", "success": false, "p_success": 0.41, "reason": "The card remains inside a plastic sleeve and the close may grasp the sleeve rather than the card itself."} -{"id": "s0192_92af51ef_l_5195", "success": true, "p_success": 0.61, "reason": "The pen is presented near the jaw centerline and the small upward close offers a plausible shaft grasp."} -{"id": "s0193_d3a650ba_l_4788", "success": false, "p_success": 0.39, "reason": "The jaws face the box wall while the small contents remain deeper inside, risking a flap grasp rather than a pickup."} -{"id": "s0194_84fe68d9_r_1345", "success": false, "p_success": 0.44, "reason": "The lateral closing motion follows a shallow shirt edge that may slide away from the jaw tips."} -{"id": "s0195_0f98afa3_l_633", "success": true, "p_success": 0.59, "reason": "The trouser cuff lies close to the jaws and the nearly stationary close can retain its hem."} -{"id": "s0196_eb50ba30_l_4210", "success": true, "p_success": 0.62, "reason": "The narrow cylindrical item is presented along the jaw centerline and can be clamped during the short close."} -{"id": "s0197_7d96f1e1_r_55", "success": true, "p_success": 0.57, "reason": "The forward approach reaches a sock fold near the tray edge with a plausible fabric pinch point."} -{"id": "s0198_1369e8ef_r_1417", "success": false, "p_success": 0.35, "reason": "The jaws face the soft cap crown and rise substantially while only partially closing, risking a shallow fabric pinch."} -{"id": "s0199_a39aeb5c_r_5527", "success": true, "p_success": 0.56, "reason": "The forward descent reaches the shirt edge and may gather fabric, although the rapid motion reduces alignment margin."} -{"id": "s0200_0f4ed64f_r_318", "success": true, "p_success": 0.6, "reason": "The descent targets a bottle body that is visible within the open jaw region, with some risk from neighboring bottles."} -{"id": "s0201_47d81e9a_l_853", "success": true, "p_success": 0.59, "reason": "A green block is positioned near the jaw gap and the short close can clamp its opposing sides."} -{"id": "s0202_1c759f54_l_166", "success": false, "p_success": 0.49, "reason": "The long curved approach crosses several loose bottles, leaving uncertain which body remains aligned at closure."} -{"id": "s0203_8be6027b_l_735", "success": true, "p_success": 0.62, "reason": "The filter edge is visibly presented near the jaws and the small downward close can pinch it against the opposing pad."} -{"id": "s0204_8875a33e_r_3917", "success": false, "p_success": 0.38, "reason": "The downward path reaches the box area without a cookie clearly seated in the acting jaw opening."} -{"id": "s0205_2b4e68b0_l_2026", "success": true, "p_success": 0.57, "reason": "The folded filter edge lies across the jaws and could be retained through the backward close, though the long translation may displace it."} -{"id": "s0206_03fe0bdc_r_48", "success": false, "p_success": 0.43, "reason": "The upward close starts beside overlapping pasta packages and may rise before a package is deeply enclosed."} -{"id": "s0207_3c253aa6_r_3527", "success": true, "p_success": 0.61, "reason": "The sneaker heel is aligned near the jaw gap and the nearly stationary close can pinch its upper."} -{"id": "s0208_1bc08f3a_r_1693", "success": true, "p_success": 0.63, "reason": "The upright phone edge is accessible between the arms and the closing approach can provide opposing contact."} -{"id": "s0209_8f375293_r_1102", "success": true, "p_success": 0.57, "reason": "The backward descent returns to separated blocks on the table with space to enclose one."} -{"id": "s0210_5a2a6fe4_l_1202", "success": true, "p_success": 0.55, "reason": "The packet edge reaches the jaw region and could be pinched, though the partial closure and shelf proximity reduce certainty."} -{"id": "s0211_bcf9b832_r_2033", "success": true, "p_success": 0.59, "reason": "The pillowcase lip is gathered between the arms and the close can capture a fold despite the curved approach."} -{"id": "s0212_f904c81f_r_1316", "success": false, "p_success": 0.41, "reason": "The jaws approach the suitcase interior without a clearly isolated object or fabric fold in the closing gap."} -{"id": "s0213_47175a6c_r_359", "success": true, "p_success": 0.64, "reason": "The exposed plate rim is near the acting jaw center and the short lateral close should clamp it."} -{"id": "s0214_243a8d2c_r_1386", "success": false, "p_success": 0.46, "reason": "The rising lateral approach starts above flat phones and does not yet establish a secure edge between the jaws."} -{"id": "s0215_a4aabe0d_r_1267", "success": true, "p_success": 0.52, "reason": "The apple is aligned ahead of the jaws, but the long rising approach leaves uncertainty about enclosing its rounded body."} -{"id": "s0216_d0e786a9_r_849", "success": false, "p_success": 0.44, "reason": "The bottle is offset ahead of the jaws near the shelf and the short partial close may not surround its body."} -{"id": "s0217_ec382b70_r_870", "success": false, "p_success": 0.39, "reason": "The jaw opening is aligned with rack wires rather than a clearly isolated plate rim."} -{"id": "s0218_6214e1ab_r_2424", "success": false, "p_success": 0.45, "reason": "The descending lateral approach reaches the dripper area, but the filter is not clearly presented between the acting jaws."} -{"id": "s0219_44f10ba9_l_4318", "success": true, "p_success": 0.62, "reason": "The exposed plate edge is close to the jaws and the planned close can establish opposing rim contact."} -{"id": "s0220_b730d58f_l_209", "success": false, "p_success": 0.4, "reason": "The small stationery item remains ahead of the tips and the partial stationary close may leave insufficient contact."} -{"id": "s0221_b03d8e78_l_1387", "success": true, "p_success": 0.65, "reason": "A raised trouser fold is near the jaw center and the short forward close can secure the fabric."} -{"id": "s0222_17f5f0f9_l_1069", "success": true, "p_success": 0.68, "reason": "The upright phone is deeply aligned with the jaw opening and should remain clamped during the upward close."} -{"id": "s0223_c40b5f48_r_1547", "success": true, "p_success": 0.57, "reason": "The exposed card edge is presented across the jaws, though the tray and neighboring cards reduce clearance."} -{"id": "s0224_91aacb56_r_2480", "success": true, "p_success": 0.64, "reason": "The pillowcase has a loose edge around the exposed pillow that the descending close can pinch."} -{"id": "s0225_0bc1bd7e_l_3209", "success": true, "p_success": 0.57, "reason": "The descent reaches the bin liner edge and the jaws can gather the exposed bag film."} -{"id": "s0226_54972992_r_2147", "success": true, "p_success": 0.61, "reason": "The small white case is presented between the grippers and the modest descent can seat it in the acting jaws."} -{"id": "s0227_7279b7ab_r_160", "success": false, "p_success": 0.49, "reason": "The long descent reaches the fruit area, but the moving view and round objects leave final enclosure uncertain."} -{"id": "s0228_857c5cd3_l_5884", "success": true, "p_success": 0.6, "reason": "The shirt corner lies near the jaw tips and the small downward close can pinch the hem."} -{"id": "s0229_cac4e017_l_935", "success": false, "p_success": 0.41, "reason": "The shoe toe is above the jaw opening and the upward partial close may catch only a shallow edge."} -{"id": "s0230_cf6801f7_r_1850", "success": true, "p_success": 0.53, "reason": "The cup is near the closing region, but its handle and the final grasp depth are not clearly visible."} -{"id": "s0231_fca86ed4_r_3389", "success": false, "p_success": 0.35, "reason": "The acting jaws face open tabletop while the visible cup is held by the other arm outside the closing gap."} -{"id": "s0232_d4e0aa21_l_2692", "success": false, "p_success": 0.4, "reason": "Rack wires cross the approach to the closely packed bowls and may block a clean rim grasp."} -{"id": "s0233_6b8ba92a_r_874", "success": true, "p_success": 0.6, "reason": "The descending jaws surround a fruit body in the basket, though the wide final gap and neighboring fruit reduce certainty."} -{"id": "s0234_b01721ec_r_6390", "success": true, "p_success": 0.67, "reason": "The folded napkin edge is supported by the other arm and lies directly in the acting jaw gap."} -{"id": "s0235_4162fb80_l_3356", "success": true, "p_success": 0.54, "reason": "The descending approach targets the shoe upper, but the curved path leaves final heel alignment uncertain."} -{"id": "s0236_6c74b0e5_r_2133", "success": true, "p_success": 0.63, "reason": "The sock and clip are presented near the jaws and the forward close can establish a firm pinch."} -{"id": "s0237_b2caf120_l_388", "success": true, "p_success": 0.56, "reason": "The laundry bag seam is exposed near the jaws and can be pinched, though the adjacent gripper may restrict access."} -{"id": "s0238_48fa5437_l_3038", "success": false, "p_success": 0.44, "reason": "The soft cap crown is ahead of the jaw tips without a clearly seated brim or deep fold."} -{"id": "s0239_38229317_l_2104", "success": true, "p_success": 0.51, "reason": "The lateral approach reaches the coffee packing area, but the cup to be grasped is not yet centered in the acting view."} -{"id": "s0240_a39aeb5c_r_2261", "success": false, "p_success": 0.28, "reason": "The planned sweep ends away from the visible shirt and the acting jaws currently face empty tabletop."} -{"id": "s0241_22bed84a_r_2708", "success": false, "p_success": 0.36, "reason": "The jaws are aligned with the canvas bag edge rather than a visible bottle body inside it."} -{"id": "s0242_b36a73f4_l_2987", "success": true, "p_success": 0.53, "reason": "The approach reaches a cylindrical stationery container presented by the other arm, but its offset position makes contact uncertain."} -{"id": "s0243_3d1b17df_l_2052", "success": true, "p_success": 0.58, "reason": "The glass stem is presented near the acting jaw opening and the lateral descent can clamp it clear of the rack."} -{"id": "s0244_a921b7fb_r_846", "success": true, "p_success": 0.6, "reason": "The blue-capped bottle body lies between the jaw approach lines and the short close can retain it despite clutter."} -{"id": "s0245_eab39ed1_r_1133", "success": true, "p_success": 0.59, "reason": "The paper edge is upright between the grippers and the small closing motion can pinch it."} -{"id": "s0246_d9be7ad1_l_667", "success": false, "p_success": 0.36, "reason": "The jaws face the organizer wall while the blocks remain off to the side of the partial closing gap."} -{"id": "s0247_e82239d4_r_233", "success": true, "p_success": 0.62, "reason": "The descent reaches the isolated bottle beside the bin with accessible opposing sides."} -{"id": "s0248_639efba9_r_160", "success": true, "p_success": 0.63, "reason": "The sock cuff and clip are within the approach corridor and the upward close can establish a firm pinch."} -{"id": "s0249_3c253aa6_r_2001", "success": false, "p_success": 0.47, "reason": "The shoe is close to the jaw tips but the shelf edge and adjacent shoe make the final contact shallow and uncertain."} -{"id": "s0250_0f98afa3_l_252", "success": true, "p_success": 0.57, "reason": "The trouser hem crosses the approaching jaws, though the forward rise could pull the edge out before full closure."} -{"id": "s0251_eeb33c46_l_181", "success": true, "p_success": 0.55, "reason": "The bouquet wrapper narrows near the tie where the jaws approach, offering a plausible grasp with some risk of catching only paper."} -{"id": "s0252_60f8e670_l_1517", "success": true, "p_success": 0.6, "reason": "The book edge is presented across the jaw opening and the short descent should clamp its thickness."} -{"id": "s0253_abae7512_l_1233", "success": true, "p_success": 0.56, "reason": "The microphone body is close to the jaws, but the stand clip may obstruct opposing contact during closure."} -{"id": "s0254_3cc152a2_l_381", "success": true, "p_success": 0.51, "reason": "The descending approach reaches the bouquet wrapper near its tie, though the stems are obscured by the other gripper."} -{"id": "s0255_fca86ed4_r_1170", "success": true, "p_success": 0.6, "reason": "The cup rim lies near the jaw tips and the backward close can pinch it clear of the nearby cloth."} -{"id": "s0256_0edfb730_l_2380", "success": false, "p_success": 0.37, "reason": "The large upward close begins above a crowded food tray without a clearly enclosed item at the jaw tips."} -{"id": "s0257_49817cbd_l_3817", "success": false, "p_success": 0.44, "reason": "The descent targets a thin card or sleeve lying flat, making access beneath its edge uncertain."} -{"id": "s0258_b7716484_r_1119", "success": true, "p_success": 0.59, "reason": "The laundry-bag seam is presented by the other arm and the short close can pinch the reinforced edge."} -{"id": "s0259_e26fa0af_l_3316", "success": true, "p_success": 0.64, "reason": "The small brooch is aligned between the grippers and the nearly stationary close can clamp its exposed body."} -{"id": "s0260_d27e35cd_l_1775", "success": true, "p_success": 0.52, "reason": "The approach reaches a plate rim in the rack, but adjacent plates and wires constrain the jaw clearance."} -{"id": "s0261_2b4e68b0_l_1877", "success": true, "p_success": 0.67, "reason": "The filter fold is clearly seated between the jaw tips and the short close should preserve that pinch."} -{"id": "s0262_28c8d41b_r_2416", "success": true, "p_success": 0.61, "reason": "The can body is centered at the jaw opening and the small rising close can establish broad opposing contact."} -{"id": "s0263_ed9685d6_l_3299", "success": true, "p_success": 0.69, "reason": "The rigid stand tube is centered between the jaws and the nearly stationary close should secure it."} -{"id": "s0264_b34dadd5_l_1282", "success": false, "p_success": 0.44, "reason": "The approach follows the frame edge but does not clearly isolate the thin photo from the frame or transparent insert."} -{"id": "s0265_ec382b70_l_1217", "success": false, "p_success": 0.36, "reason": "The acting jaws face the rack and opposing gripper with no plate rim visibly seated in their gap."} -{"id": "s0266_1369e8ef_l_58", "success": false, "p_success": 0.4, "reason": "The cap brim is ahead of the tips and the quick upward close may lift away before enclosing its edge."} -{"id": "s0267_8286919d_r_2417", "success": false, "p_success": 0.39, "reason": "The shelf board obstructs the shoe opening and the close risks pinching against the shelf instead of gripping the upper."} -{"id": "s0268_58641195_r_3565", "success": false, "p_success": 0.35, "reason": "The final commanded opening remains wide while the bag edge is only shallowly aligned with the jaws."} -{"id": "s0269_84d5a6ab_l_3726", "success": true, "p_success": 0.53, "reason": "The forward descent approaches a plug-sized object, though the nearby outlet block obscures precise contact."} -{"id": "s0270_bfb7dd87_r_64", "success": false, "p_success": 0.3, "reason": "The acting jaws face empty tabletop and the very short close does not reach the visible tools."} -{"id": "s0271_1ea74b8e_l_68", "success": true, "p_success": 0.59, "reason": "The napkin edge is close to the jaw tips and the nearly stationary close can capture a fold."} -{"id": "s0272_117a734e_l_1494", "success": true, "p_success": 0.55, "reason": "The downward lateral approach reaches the shirt hem, though its flat placement makes the final pinch uncertain."} -{"id": "s0273_fb64b434_r_3381", "success": true, "p_success": 0.64, "reason": "The upright book spine is seated in the jaw opening and offers broad opposing surfaces for a clamp."} -{"id": "s0274_cd143549_r_625", "success": true, "p_success": 0.57, "reason": "The utensil shafts are aligned with the jaws and the descending sweep can retain them while approaching the bread."} -{"id": "s0275_adf63b5a_r_40", "success": false, "p_success": 0.47, "reason": "The long curved motion reaches a towel in the basket, but the upward close may catch only a shallow edge."} -{"id": "s0276_f75d64df_l_805", "success": true, "p_success": 0.63, "reason": "The snack packet body is centered ahead of the jaws and the short forward close can compress and retain it."} -{"id": "s0277_d8698b57_l_231", "success": false, "p_success": 0.43, "reason": "The acting jaws are crowded by utensils and the other gripper without a chocolate clearly seated between the tips."} -{"id": "s0278_45e11483_r_3211", "success": true, "p_success": 0.65, "reason": "The plate rim is close to the jaw opening and the modest closing displacement should preserve a secure edge pinch."} -{"id": "s0279_77729cd0_l_992", "success": true, "p_success": 0.56, "reason": "The approach reaches the sock clip beneath the frame, although the opposing gripper limits the available clearance."} -{"id": "s0280_abae7512_l_258", "success": false, "p_success": 0.44, "reason": "The microphone remains offset ahead of the acting jaws and the stand hardware obscures secure body contact."} -{"id": "s0281_8a600716_r_1323", "success": true, "p_success": 0.61, "reason": "The shirt fold is presented between the grippers and the descending close can capture a substantial section."} -{"id": "s0282_e3df98e1_l_2036", "success": true, "p_success": 0.65, "reason": "The shirt edge and hanger are close to the jaws and the short close can retain the presented fabric fold."} -{"id": "s0283_b7462942_r_2908", "success": false, "p_success": 0.48, "reason": "The narrow cardboard edge is near the jaws, but the partial close may provide only shallow purchase on the box flap."} -{"id": "s0284_83544adb_r_1138", "success": true, "p_success": 0.55, "reason": "The open bag exposes the food near the closing region, though the clustered contents and film may interfere with a clean grasp."} -{"id": "s0285_13f93ec4_l_272", "success": false, "p_success": 0.35, "reason": "The hanger frame crosses the jaw opening and the wide partial close is unlikely to isolate the sock clip securely."} -{"id": "s0286_22bed84a_r_2251", "success": false, "p_success": 0.34, "reason": "The acting jaws remain outside the bag near its handle while the bottles are deeper inside."} -{"id": "s0287_76d3a792_r_2666", "success": true, "p_success": 0.68, "reason": "The thick folded towel is presented between the grippers and the small downward close should retain it."} -{"id": "s0288_38229317_r_3830", "success": true, "p_success": 0.58, "reason": "The paper bag lip spans the jaw opening and the forward close can pinch a fold near the handle."} -{"id": "s0289_d08765d0_l_113", "success": false, "p_success": 0.33, "reason": "The cabinet edge blocks the acting jaw view and the shoe is not clearly within the closing gap."} -{"id": "s0290_5e6d3b53_r_2308", "success": false, "p_success": 0.45, "reason": "The upward lateral approach faces several cards in a holder without a single exposed edge clearly isolated."} -{"id": "s0291_20a3acac_r_1784", "success": true, "p_success": 0.59, "reason": "The charging case is presented near the acting jaws and the lateral close can capture its body, though the other gripper crowds it."} -{"id": "s0292_ed9685d6_r_1590", "success": true, "p_success": 0.6, "reason": "The metronome body is close to the jaw opening and the small translation should allow opposing contact."} -{"id": "s0293_670c7cfd_l_4431", "success": true, "p_success": 0.5, "reason": "The forward rise approaches the shoe heel near the cabinet, with uncertain clearance beneath the shelf."} -{"id": "s0294_347bd73f_r_1361", "success": false, "p_success": 0.42, "reason": "The plate rim is crowded among neighboring plates and rack bars, making a clean isolated pinch uncertain."} -{"id": "s0295_c83bf764_l_787", "success": true, "p_success": 0.53, "reason": "The lateral approach reaches the loose blocks, but the final target is not yet centered in the acting jaws."} -{"id": "s0296_4841aa44_r_866", "success": false, "p_success": 0.1, "reason": "The public worked example identifies a shallow pinch on the soft cap crown that does not secure the hat."} -{"id": "s0297_e250e243_l_1782", "success": true, "p_success": 0.67, "reason": "The shirt fabric is bunched in the jaw opening and the short close should retain a substantial fold."} -{"id": "s0298_8ab53d08_r_433", "success": false, "p_success": 0.37, "reason": "The phone remains offset near the other gripper and the wide partial close may fail to establish opposing contact."} -{"id": "s0299_b81c90c9_r_646", "success": true, "p_success": 0.58, "reason": "The upright phone edge is near the acting jaws, but the quick upward motion may reduce the depth of contact."} -{"id": "s0300_bbd62cca_r_968", "success": false, "p_success": 0.44, "reason": "The long backward sweep moves away from the visible pear and leaves the final food grasp uncertain."} -{"id": "s0301_c898e489_l_1660", "success": true, "p_success": 0.64, "reason": "The cardboard carrier edge is presented between the jaws and the modest forward close can clamp it."} -{"id": "s0302_61757e14_r_3715", "success": true, "p_success": 0.68, "reason": "The paper plane central fold is clearly aligned with the jaw opening and the lateral descent can pinch it."} -{"id": "s0303_0de45c6a_r_904", "success": true, "p_success": 0.55, "reason": "The forward approach reaches the exposed cup area, though neighboring dishes make precise rim capture uncertain."} -{"id": "s0304_a860ce76_l_552", "success": true, "p_success": 0.61, "reason": "The reinforced zipper edge is presented near the jaw center and the forward close can secure that lip."} -{"id": "s0305_9db4e21e_r_5543", "success": true, "p_success": 0.59, "reason": "The downward lateral approach reaches a loose pillowcase edge that can be gathered into the jaws."} diff --git a/models/astra/score_report.json b/models/astra/score_report.json deleted file mode 100644 index 40889dcbd48640361e6bd2415214b29a3d9225b4..0000000000000000000000000000000000000000 --- a/models/astra/score_report.json +++ /dev/null @@ -1,2892 +0,0 @@ -{ - "predictions_sha256": "19d9f17bdb4bc45426a12c24351ffb680f1403371f26858d224e534b7e31bdec", - "scoring_implementation": "assessment/score_submission.py (standalone; repository scorer not present in this benchmark folder)", - "total_predictions": 306, - "excluded_example_ids": [ - "s0019_02801c08_r_1715", - "s0112_144a9b9a_r_825", - "s0153_28d21458_l_1731", - "s0296_4841aa44_r_866" - ], - "missing_ids": [], - "extra_ids": [], - "overall": { - "n": 302, - "correct": 146, - "accuracy": 0.48344370860927155, - "balanced_accuracy": 0.48403508771929826, - "success_recall": 0.5733333333333334, - "failure_recall": 0.39473684210526316, - "auroc": 0.5073464912280702, - "brier": 0.26164536423841067, - "ece_10_equal_width_bins": 0.11745033112582792, - "confusion_matrix": { - "true_success_pred_success": 86, - "true_success_pred_fail": 64, - "true_fail_pred_success": 92, - "true_fail_pred_fail": 60 - }, - "calibration": [ - { - "lower": 0.2, - "upper": 0.3, - "count": 2, - "mean_probability": 0.275, - "observed_success_rate": 0.5 - }, - { - "lower": 0.3, - "upper": 0.4, - "count": 44, - "mean_probability": 0.35886363636363633, - "observed_success_rate": 0.5227272727272727 - }, - { - "lower": 0.4, - "upper": 0.5, - "count": 78, - "mean_probability": 0.4397435897435896, - "observed_success_rate": 0.5128205128205128 - }, - { - "lower": 0.5, - "upper": 0.6, - "count": 80, - "mean_probability": 0.558625, - "observed_success_rate": 0.425 - }, - { - "lower": 0.6, - "upper": 0.7, - "count": 93, - "mean_probability": 0.6345161290322583, - "observed_success_rate": 0.5161290322580645 - }, - { - "lower": 0.7, - "upper": 0.8, - "count": 5, - "mean_probability": 0.718, - "observed_success_rate": 0.8 - } - ], - "strict_accuracy": 0.48344370860927155 - }, - "per_type": { - "fail_at_decision": { - "n": 106, - "correct": 42, - "accuracy": 0.39622641509433965, - "balanced_accuracy": null, - "success_recall": null, - "failure_recall": 0.39622641509433965, - "auroc": null, - "brier": 0.2860415094339621, - "ece_10_equal_width_bins": 0.5245283018867924, - "confusion_matrix": { - "true_success_pred_success": 0, - "true_success_pred_fail": 0, - "true_fail_pred_success": 64, - "true_fail_pred_fail": 42 - }, - "calibration": [ - { - "lower": 0.3, - "upper": 0.4, - "count": 15, - "mean_probability": 0.35799999999999993, - "observed_success_rate": 0.0 - }, - { - "lower": 0.4, - "upper": 0.5, - "count": 27, - "mean_probability": 0.4344444444444445, - "observed_success_rate": 0.0 - }, - { - "lower": 0.5, - "upper": 0.6, - "count": 28, - "mean_probability": 0.5639285714285714, - "observed_success_rate": 0.0 - }, - { - "lower": 0.6, - "upper": 0.7, - "count": 36, - "mean_probability": 0.6308333333333334, - "observed_success_rate": 0.0 - } - ] - }, - "fail_early": { - "n": 46, - "correct": 18, - "accuracy": 0.391304347826087, - "balanced_accuracy": null, - "success_recall": null, - "failure_recall": 0.391304347826087, - "auroc": null, - "brier": 0.2781434782608696, - "ece_10_equal_width_bins": 0.5173913043478261, - "confusion_matrix": { - "true_success_pred_success": 0, - "true_success_pred_fail": 0, - "true_fail_pred_success": 28, - "true_fail_pred_fail": 18 - }, - "calibration": [ - { - "lower": 0.2, - "upper": 0.3, - "count": 1, - "mean_probability": 0.28, - "observed_success_rate": 0.0 - }, - { - "lower": 0.3, - "upper": 0.4, - "count": 6, - "mean_probability": 0.35333333333333333, - "observed_success_rate": 0.0 - }, - { - "lower": 0.4, - "upper": 0.5, - "count": 11, - "mean_probability": 0.4536363636363637, - "observed_success_rate": 0.0 - }, - { - "lower": 0.5, - "upper": 0.6, - "count": 18, - "mean_probability": 0.5522222222222222, - "observed_success_rate": 0.0 - }, - { - "lower": 0.6, - "upper": 0.7, - "count": 9, - "mean_probability": 0.6388888888888888, - "observed_success_rate": 0.0 - }, - { - "lower": 0.7, - "upper": 0.8, - "count": 1, - "mean_probability": 0.72, - "observed_success_rate": 0.0 - } - ] - }, - "success_at_decision": { - "n": 100, - "correct": 55, - "accuracy": 0.55, - "balanced_accuracy": null, - "success_recall": 0.55, - "failure_recall": null, - "auroc": null, - "brier": 0.2387339999999999, - "ece_10_equal_width_bins": 0.4736, - "confusion_matrix": { - "true_success_pred_success": 55, - "true_success_pred_fail": 45, - "true_fail_pred_success": 0, - "true_fail_pred_fail": 0 - }, - "calibration": [ - { - "lower": 0.2, - "upper": 0.3, - "count": 1, - "mean_probability": 0.27, - "observed_success_rate": 1.0 - }, - { - "lower": 0.3, - "upper": 0.4, - "count": 17, - "mean_probability": 0.3605882352941176, - "observed_success_rate": 1.0 - }, - { - "lower": 0.4, - "upper": 0.5, - "count": 27, - "mean_probability": 0.43555555555555553, - "observed_success_rate": 1.0 - }, - { - "lower": 0.5, - "upper": 0.6, - "count": 12, - "mean_probability": 0.5675, - "observed_success_rate": 1.0 - }, - { - "lower": 0.6, - "upper": 0.7, - "count": 40, - "mean_probability": 0.6380000000000001, - "observed_success_rate": 1.0 - }, - { - "lower": 0.7, - "upper": 0.8, - "count": 3, - "mean_probability": 0.7166666666666667, - "observed_success_rate": 1.0 - } - ] - }, - "success_early": { - "n": 50, - "correct": 31, - "accuracy": 0.62, - "balanced_accuracy": null, - "success_recall": 0.62, - "failure_recall": null, - "auroc": null, - "brier": 0.24056999999999998, - "ece_10_equal_width_bins": 0.48219999999999996, - "confusion_matrix": { - "true_success_pred_success": 31, - "true_success_pred_fail": 19, - "true_fail_pred_success": 0, - "true_fail_pred_fail": 0 - }, - "calibration": [ - { - "lower": 0.3, - "upper": 0.4, - "count": 6, - "mean_probability": 0.36166666666666664, - "observed_success_rate": 1.0 - }, - { - "lower": 0.4, - "upper": 0.5, - "count": 13, - "mean_probability": 0.4476923076923077, - "observed_success_rate": 1.0 - }, - { - "lower": 0.5, - "upper": 0.6, - "count": 22, - "mean_probability": 0.5522727272727272, - "observed_success_rate": 1.0 - }, - { - "lower": 0.6, - "upper": 0.7, - "count": 8, - "mean_probability": 0.6287499999999999, - "observed_success_rate": 1.0 - }, - { - "lower": 0.7, - "upper": 0.8, - "count": 1, - "mean_probability": 0.72, - "observed_success_rate": 1.0 - } - ] - } - }, - "per_task": { - "clip_the_socks_to_the_hanger": { - "n": 2, - "correct": 1, - "accuracy": 0.5, - "balanced_accuracy": 0.5, - "success_recall": 1.0, - "failure_recall": 0.0, - "auroc": 1.0, - "brier": 0.2309, - "ece_10_equal_width_bins": 0.47, - "confusion_matrix": { - "true_success_pred_success": 1, - "true_success_pred_fail": 0, - "true_fail_pred_success": 1, - "true_fail_pred_fail": 0 - }, - "calibration": [ - { - "lower": 0.5, - "upper": 0.6, - "count": 1, - "mean_probability": 0.57, - "observed_success_rate": 0.0 - }, - { - "lower": 0.6, - "upper": 0.7, - "count": 1, - "mean_probability": 0.63, - "observed_success_rate": 1.0 - } - ] - }, - "fold_a_paper_plane_with_a_square_sheet_of_paper_pick_it_up_from_the_middle": { - "n": 3, - "correct": 1, - "accuracy": 0.3333333333333333, - 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0.47058823529411764 - }, - { - "lower": 0.7, - "upper": 0.8, - "count": 2, - "mean_probability": 0.72, - "observed_success_rate": 0.5 - } - ] - } - } -} diff --git a/models/astra/scored_predictions.jsonl b/models/astra/scored_predictions.jsonl deleted file mode 100644 index 9a2143634e6db95c61b5aa954c9cdc64c4ea9660..0000000000000000000000000000000000000000 --- a/models/astra/scored_predictions.jsonl +++ /dev/null @@ -1,302 +0,0 @@ -{"id": "s0000_e37154ab_r_1320", "success": true, "p_success": 0.58, "reason": "The bag material spans the jaw opening and the rising close could retain a fold, although the thin plastic may slip.", "actual_success": true, "correct": true, "type": "success_early", "task": "put_the_trash_bags_into_the_trash_bin"} -{"id": "s0001_3c2d9790_r_777", "success": true, "p_success": 0.64, "reason": "The hanger bar is between the jaws and the short closing motion appears able to clamp it.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "place_the_skirt_on_the_hanger"} -{"id": "s0002_574e02cc_r_1404", "success": false, "p_success": 0.35, "reason": "The jaws approach the plastic holder obliquely without a clearly isolated card edge between them.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "put_the_credit_cards_into_the_card_holder"} -{"id": "s0003_8b0fc929_l_1771", "success": false, "p_success": 0.42, "reason": "Only a thin filter edge reaches the jaw gap and the partial close may not secure it.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "place_the_coffee_filter_in_the_dripper"} -{"id": "s0004_7fe08c80_r_2090", "success": false, "p_success": 0.35, "reason": "The planned lateral sweep carries the gripper away from the visible shoe opening before closing.", "actual_success": true, "correct": false, "type": "success_early", "task": "place_and_organize_the_shoes_onto_the_shoe_shelf"} -{"id": "s0005_3ad71a45_l_2157", "success": true, "p_success": 0.52, "reason": "The long approach reaches the hanging fabric, but the clip contact is not yet clear.", "actual_success": true, "correct": true, "type": "success_early", "task": "remove_the_socks_clipped_to_the_hanger"} -{"id": "s0006_e3d7715b_r_443", "success": false, "p_success": 0.32, "reason": "The acting jaws face open rack wires and the rising lateral path lacks a clearly captured bowl rim.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "load_the_bowls_into_the_dish_rack"} -{"id": "s0007_de247e0f_l_1182", "success": true, "p_success": 0.72, "reason": "The cup is centered between the jaws and the modest downward approach should establish contact around its body.", "actual_success": true, "correct": true, "type": "success_early", "task": "pack_the_takeout_coffee"} -{"id": "s0008_229f977d_l_1860", "success": true, "p_success": 0.56, "reason": "The downward approach reaches the bowl at the rack edge, although wire clearance and the final jaw gap are uncertain.", "actual_success": true, "correct": true, "type": "success_early", "task": "unload_the_bowls_from_the_dish_rack"} -{"id": "s0009_201ea8d5_r_309", "success": false, "p_success": 0.48, "reason": "The approach reaches the wine-glass rack, but the stem is not yet centered and the partial close leaves uncertain purchase.", "actual_success": true, "correct": false, "type": "success_early", "task": "take_the_wine_glass_off_the_wine_glass_rack"} -{"id": "s0010_e84d0e9e_r_599", "success": false, "p_success": 0.38, "reason": "The slender utensil is off to one side of the acting jaws and the lateral close risks missing its shaft.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "sort_the_eating_utensils_into_containers"} -{"id": "s0011_3ad71a45_l_1965", "success": false, "p_success": 0.48, "reason": "The large sweep approaches the hanging sock but leaves the eventual clip engagement uncertain.", "actual_success": true, "correct": false, "type": "success_early", "task": "remove_the_socks_clipped_to_the_hanger"} -{"id": "s0012_da30fafe_r_135", "success": true, "p_success": 0.68, "reason": "The shoe heel lies within the jaw opening and the short closing motion should pinch the upper securely.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "place_and_organize_the_shoes_in_the_shoe_cabinet"} -{"id": "s0013_60f44a8d_r_1311", "success": true, "p_success": 0.65, "reason": "A substantial fold of trouser fabric fills the jaw gap and little translation is commanded during closure.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "fold_and_stack_the_trousers"} -{"id": "s0014_783d143d_r_3872", "success": false, "p_success": 0.44, "reason": "The lateral approach crosses the loaded rack and may contact a plate face or wire rather than isolate a rim.", "actual_success": true, "correct": false, "type": "success_early", "task": "load_the_plates_into_the_dish_rack"} -{"id": "s0015_9bd892f2_l_2676", "success": false, "p_success": 0.27, "reason": "The acting jaws are aligned with the stand post while the visible phone remains offset to the other side.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "remove_the_phone_from_the_phone_stand"} -{"id": "s0016_72caa26c_r_1586", "success": true, "p_success": 0.63, "reason": "The descending approach reaches a bottle body within the jaws, with some uncertainty from nearby loose bottles.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "put_the_plastic_bottles_in_the_bin"} -{"id": "s0017_3e3ef71b_l_963", "success": false, "p_success": 0.4, "reason": "The hanging sock remains above the jaw tips and the upward close may catch only its narrow loose edge.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "remove_the_socks_clipped_to_the_hanger"} -{"id": "s0018_9fb361dd_l_1215", "success": true, "p_success": 0.53, "reason": "The approach aims toward the suspended sock but the long lateral motion makes the final fabric engagement uncertain.", "actual_success": true, "correct": true, "type": "success_early", "task": "remove_the_socks_clipped_to_the_hanger"} -{"id": "s0020_4b894d76_l_144", "success": true, "p_success": 0.61, "reason": "The planned descent reaches the bouquet near its bundled stems, offering a plausible narrow grasp despite the wrapping.", "actual_success": true, "correct": true, "type": "success_early", "task": "place_the_flowers_into_the_vase"} -{"id": "s0021_4162fb80_l_1197", "success": true, "p_success": 0.67, "reason": "The shoe upper is presented between the jaws and the small final translation should permit a firm pinch.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "place_and_organize_the_shoes_in_the_shoe_cabinet"} -{"id": "s0022_6097ea6d_r_2209", "success": false, "p_success": 0.38, "reason": "The round fruit sits ahead of the jaw tips and the short upward partial close risks shallow contact.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "take_the_fake_fruits_out_of_the_plastic_bag"} -{"id": "s0023_9d438abd_r_2695", "success": false, "p_success": 0.46, "reason": "The bag edge is close to the jaws but the view does not show a strap or fold seated deeply enough for a reliable grip.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "pack_the_student_bag"} -{"id": "s0024_def1f3a4_r_2411", "success": false, "p_success": 0.43, "reason": "The long curved descent passes the luggage edge without a clearly aligned handle in the acting jaw gap.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "pack_the_luggage"} -{"id": "s0025_639efba9_l_60", "success": true, "p_success": 0.64, "reason": "The forward approach follows the hanging sock and can bring its lower fabric section into the closing jaws.", "actual_success": true, "correct": true, "type": "success_early", "task": "remove_the_socks_clipped_to_the_hanger"} -{"id": "s0026_a0479839_l_505", "success": false, "p_success": 0.36, "reason": "The gripper starts over the bin and sweeps toward its rim with no clearly isolated bottle body in the jaw opening.", "actual_success": true, "correct": false, "type": "success_early", "task": "put_the_plastic_bottles_in_the_bin"} -{"id": "s0027_fc205ec5_r_1500", "success": true, "p_success": 0.6, "reason": "The planned descent reaches the food in the tray and should place a piece between the jaws before closure.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "place_the_food_in_the_zip_top_bag_and_seal_the_zipper"} -{"id": "s0028_56cdadbf_l_2087", "success": false, "p_success": 0.37, "reason": "The shirt edge is ahead of the jaws and the large downward motion risks pushing it flat instead of enclosing a fold.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "fold_and_stack_the_t_shirts"} -{"id": "s0029_341d314b_l_2190", "success": true, "p_success": 0.62, "reason": "The shirt corner crosses the jaw opening and the modest downward close can pinch the fabric.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "fold_and_stack_the_t_shirts"} -{"id": "s0030_ef2e66d3_r_266", "success": true, "p_success": 0.58, "reason": "The approach descends toward the visible bottle cluster with sufficient opening to surround a bottle body.", "actual_success": true, "correct": true, "type": "success_early", "task": "put_the_plastic_bottles_in_the_bin"} -{"id": "s0031_0ae9b29a_l_93", "success": false, "p_success": 0.36, "reason": "The acting jaws face the rack framework below the bowls and the rising close risks clamping a wire or missing the rim.", "actual_success": true, "correct": false, "type": "success_early", "task": "unload_the_bowls_from_the_dish_rack"} -{"id": "s0032_b1279677_r_2138", "success": false, "p_success": 0.4, "reason": "The shirt edge is offset above the jaw gap and may slide away during the downward close.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "fold_and_stack_the_t_shirts"} -{"id": "s0033_eb01da60_r_297", "success": true, "p_success": 0.54, "reason": "The planned sweep returns toward the loose blocks, but the final block alignment is only weakly constrained by the current view.", "actual_success": true, "correct": true, "type": "success_early", "task": "sort_the_legos_into_containers_by_color"} -{"id": "s0034_1bc8e710_r_1233", "success": false, "p_success": 0.42, "reason": "The upright bottle remains ahead of the open jaws and the small upward motion may leave the close too shallow.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "put_the_plastic_bottles_in_the_bin"} -{"id": "s0035_535f2e48_l_1232", "success": true, "p_success": 0.61, "reason": "The black bag edge is visible across the gripper approach and the closing sweep can gather a fold.", "actual_success": true, "correct": true, "type": "success_early", "task": "put_the_trash_bags_into_the_trash_bin"} -{"id": "s0036_77729cd0_l_1081", "success": true, "p_success": 0.62, "reason": "The sock edge extends across the approaching jaws and the downward close can capture the fabric below the hanger.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "remove_the_socks_clipped_to_the_hanger"} -{"id": "s0037_5f3931f7_r_77", "success": false, "p_success": 0.43, "reason": "The flat card remains on the table ahead of the gripper and the approach may not get a jaw beneath its edge.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "put_the_credit_cards_into_the_card_holder"} -{"id": "s0038_5194b865_r_3505", "success": true, "p_success": 0.67, "reason": "The pen shaft is presented near the center of the jaw gap and the short closing motion should clamp it.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "insert_the_pens_into_the_pen_caps"} -{"id": "s0039_74f311ab_l_1380", "success": false, "p_success": 0.46, "reason": "The jaws approach the box and package edge together, making an isolated secure pickup uncertain.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "unpack_the_express_box"} -{"id": "s0040_c1ae0126_r_136", "success": true, "p_success": 0.61, "reason": "A bunched shirt section lies in the closing path and provides more material to pinch than a flat edge.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "fold_and_stack_the_t_shirts"} -{"id": "s0041_fce1b18b_l_120", "success": true, "p_success": 0.57, "reason": "The trouser fold is near the jaws and the lateral approach can gather it, although the long sweep could drag the fabric.", "actual_success": true, "correct": true, "type": "success_early", "task": "place_the_trousers_on_the_hanger"} -{"id": "s0042_eab39ed1_r_286", "success": false, "p_success": 0.39, "reason": "The thin sheet is poorly seated in the acting jaw gap and the upward lateral close risks sliding past its edge.", "actual_success": true, "correct": false, "type": "success_early", "task": "place_the_letter_into_the_envelope_and_seal_it"} -{"id": "s0043_59bd8f7c_r_2238", "success": true, "p_success": 0.63, "reason": "The jaws are positioned beneath the sock and clip area, and the small upward close offers a plausible pinch.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "clip_the_socks_to_the_hanger"} -{"id": "s0044_80e9d4f2_r_1085", "success": false, "p_success": 0.42, "reason": "The jaws approach the soft hat crown near the basket without a clearly isolated stiff brim.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "stack_the_hats"} -{"id": "s0045_857c5cd3_l_4161", "success": true, "p_success": 0.59, "reason": "The shirt edge lies across the jaw opening and the nearly stationary close can retain a fold.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "fold_and_stack_the_t_shirts"} -{"id": "s0046_4457a343_r_491", "success": true, "p_success": 0.53, "reason": "The approach moves toward the loose bottles, but clutter and the partial closure leave the final contact uncertain.", "actual_success": true, "correct": true, "type": "success_early", "task": "put_the_plastic_bottles_in_the_bin"} -{"id": "s0047_e2706a7a_r_831", "success": true, "p_success": 0.6, "reason": "The descending lateral approach targets a separated block with accessible opposing sides.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "sort_the_legos_into_containers_by_color"} -{"id": "s0048_851c71e4_l_3264", "success": false, "p_success": 0.39, "reason": "The bottle is offset toward one jaw and the upward partial close may fail to surround its body.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "put_the_plastic_bottles_in_the_bin"} -{"id": "s0049_df25bf3b_l_1955", "success": false, "p_success": 0.45, "reason": "The large lateral path moves away from the currently visible filter and its thin edge may not remain aligned at closure.", "actual_success": true, "correct": false, "type": "success_early", "task": "place_the_coffee_filter_in_the_dripper"} -{"id": "s0050_a43f2ed7_r_180", "success": true, "p_success": 0.57, "reason": "The descent reaches the cookie tray with room for the jaws to surround a cookie, though nearby pieces could interfere.", "actual_success": true, "correct": true, "type": "success_early", "task": "pack_the_cookies"} -{"id": "s0051_0c28c098_r_406", "success": false, "p_success": 0.42, "reason": "The downward approach is crowded by the dripper and the opposing gripper, with no clear isolated filter edge.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "place_the_coffee_filter_in_the_dripper"} -{"id": "s0052_2b47bdf1_l_43", "success": true, "p_success": 0.65, "reason": "The pasta package extends into the jaw opening and the forward descent can clamp its narrow middle.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "place_and_organize_the_pasta_boxes_and_bags_onto_the_shelf"} -{"id": "s0053_7fe08c80_r_1177", "success": true, "p_success": 0.54, "reason": "The planned descent returns from the shelf toward the floor shoes, but the long motion leaves the exact heel contact uncertain.", "actual_success": true, "correct": true, "type": "success_early", "task": "place_and_organize_the_shoes_onto_the_shoe_shelf"} -{"id": "s0054_4ab71f4f_l_1955", "success": false, "p_success": 0.48, "reason": "The descent targets the phone area, but the flat adjacent phones and partial close make edge capture uncertain.", "actual_success": true, "correct": false, "type": "success_early", "task": "put_the_phone_into_the_phone_case"} -{"id": "s0055_e01b6a85_r_858", "success": true, "p_success": 0.63, "reason": "The forward descent aligns the jaws with the isolated yellow block and offers opposing faces to clamp.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "sort_the_legos_into_containers_by_color"} -{"id": "s0056_773f0a91_r_366", "success": true, "p_success": 0.57, "reason": "The bag edge lies near the closing path and could be pinched, although the upward motion may reduce purchase.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "place_and_organize_the_chips_bags_onto_the_shelf"} -{"id": "s0057_3c8d02d9_r_1525", "success": false, "p_success": 0.35, "reason": "The jaws face a broad smooth pillow surface and close quickly without a distinct fold seated between them.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "put_the_pillow_into_the_pillowcase"} -{"id": "s0058_76d3a792_r_3251", "success": true, "p_success": 0.65, "reason": "The small case handle is close to the jaw opening and the modest approach should allow a firm handle grasp.", "actual_success": true, "correct": true, "type": "success_early", "task": "pack_the_luggage"} -{"id": "s0059_5cc31652_r_1884", "success": false, "p_success": 0.32, "reason": "The rising lateral close moves above the visible dish surface with no rim clearly enclosed by the acting jaws.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "unload_the_mixed_dishes_from_the_dish_rack"} -{"id": "s0060_4e3753ec_r_1761", "success": true, "p_success": 0.62, "reason": "The upright phone or case edge is presented between the grippers and the short forward close can clamp it.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "take_the_phone_out_of_the_phone_case"} -{"id": "s0061_8163928a_l_102", "success": false, "p_success": 0.48, "reason": "The transparent bag lip is near the tips, but its thin edge may slide out during the curved closing motion.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "place_the_food_in_the_zip_top_bag_and_seal_the_zipper"} -{"id": "s0062_cdb591e1_l_2315", "success": true, "p_success": 0.61, "reason": "The approach descends toward a can with accessible sides and a final gap consistent with grasping its body.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "place_and_organize_the_beverage_onto_the_shelf"} -{"id": "s0063_fad08c73_r_915", "success": true, "p_success": 0.7, "reason": "The square plate rim is seated between the jaws and the small closing motion should maintain that purchase.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "load_the_plates_into_the_dish_rack"} -{"id": "s0064_efac528c_l_2781", "success": false, "p_success": 0.43, "reason": "The filter is stretched between the arms but the acting jaws close only partway on a thin unsupported edge.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "place_the_coffee_filter_in_the_dripper"} -{"id": "s0065_087a6033_r_232", "success": true, "p_success": 0.58, "reason": "The lateral descent brings the gripper toward an exposed plate edge, though final rim depth remains uncertain.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "load_the_plates_into_the_dish_rack"} -{"id": "s0066_67363e39_r_1449", "success": false, "p_success": 0.47, "reason": "The planned sweep approaches the stationery but the thin pen is not yet centered in the acting jaws.", "actual_success": true, "correct": false, "type": "success_early", "task": "sort_the_stationery_into_containers"} -{"id": "s0067_ab243717_r_37", "success": true, "p_success": 0.67, "reason": "A large trouser fold already fills the jaw opening and can be retained as the gripper rises and closes.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "fold_and_stack_the_trousers"} -{"id": "s0068_1bc08f3a_l_2899", "success": false, "p_success": 0.38, "reason": "The phone is supported by the other arm while the acting jaws remain offset from its upper edge.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "put_the_phone_into_the_phone_case"} -{"id": "s0069_574e02cc_l_43", "success": false, "p_success": 0.45, "reason": "The long descent reaches a flat card on the table, where getting beneath the thin edge is uncertain.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "put_the_credit_cards_into_the_card_holder"} -{"id": "s0070_cf5dbbb2_l_773", "success": true, "p_success": 0.62, "reason": "The pillowcase lip is accessible around the exposed pillow and the lateral close can pinch that loose fabric.", "actual_success": true, "correct": true, "type": "success_early", "task": "remove_the_pillowcase_from_the_pillow"} -{"id": "s0071_9eb3d579_r_1805", "success": true, "p_success": 0.56, "reason": "The small case is presented near the acting jaws, but the opposing gripper and small target leave limited alignment tolerance.", "actual_success": true, "correct": true, "type": "success_early", "task": "insert_the_wireless_bluetooth_earbuds_into_the_charging_case"} -{"id": "s0072_7ddfc430_l_45", "success": false, "p_success": 0.44, "reason": "The bowl rim sits to one side of the acting jaws and the upward close may leave insufficient rim engagement.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "load_the_mixed_dishes_into_the_dish_rack"} -{"id": "s0073_d2d2b900_r_314", "success": false, "p_success": 0.47, "reason": "The orange is ahead of the jaw tips and the lateral motion risks nudging the round object instead of enclosing it.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "place_and_organize_the_fake_fruits_in_the_fruit_bowl"} -{"id": "s0074_d9e88f2b_r_2888", "success": false, "p_success": 0.34, "reason": "The long backward closing path moves away from the shirt edge visible above the jaws.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "fold_and_stack_the_t_shirts"} -{"id": "s0075_da30fafe_r_3289", "success": true, "p_success": 0.53, "reason": "The curved approach returns toward the shoes on the table, but the final shoe-edge alignment is uncertain.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "place_and_organize_the_shoes_in_the_shoe_cabinet"} -{"id": "s0076_a148394d_l_202", "success": true, "p_success": 0.51, "reason": "The descent reaches the cup area beside the coasters, although the handle is not yet visible within the jaws.", "actual_success": true, "correct": true, "type": "success_early", "task": "place_the_cup_by_the_coaster"} -{"id": "s0077_d639ed25_l_861", "success": false, "p_success": 0.48, "reason": "The approach enters the rack toward a cup, but the wires obscure whether a rim can be isolated.", "actual_success": true, "correct": false, "type": "success_early", "task": "unload_the_cups_from_the_dish_rack"} -{"id": "s0078_d8a035dc_r_3907", "success": true, "p_success": 0.56, "reason": "The forward approach reaches the exposed bowl rim on the rack with a plausible clearance for a pinch.", "actual_success": true, "correct": true, "type": "success_early", "task": "unload_the_bowls_from_the_dish_rack"} -{"id": "s0079_0edfb730_l_145", "success": false, "p_success": 0.44, "reason": "The lateral descent aims at a thin transparent bag edge whose final placement between the jaws is uncertain.", "actual_success": true, "correct": false, "type": "success_early", "task": "place_the_food_in_the_zip_top_bag_and_seal_the_zipper"} -{"id": "s0080_1fb60128_l_2836", "success": true, "p_success": 0.64, "reason": "The napkin corner is presented across the jaw opening and the small forward close should capture it.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "fold_the_napkin_into_a_case_and_place_the_utensils_inside"} -{"id": "s0081_cac4e017_r_1928", "success": true, "p_success": 0.64, "reason": "The sneaker heel is close to the jaw opening and the short forward close should pinch the upper.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "place_and_organize_the_shoes_in_the_shoe_cabinet"} -{"id": "s0082_639efba9_l_1032", "success": true, "p_success": 0.53, "reason": "The rising lateral approach reaches the hanging socks, but the clip is not yet visible within the acting jaws.", "actual_success": true, "correct": true, "type": "success_early", "task": "remove_the_socks_clipped_to_the_hanger"} -{"id": "s0083_a487c045_r_1576", "success": true, "p_success": 0.57, "reason": "The laundry-bag edge is accessible and the lateral motion could gather a fold, though the enclosed garment is not isolated.", "actual_success": true, "correct": true, "type": "success_early", "task": "unzip_the_laundry_bag_and_remove_the_bra"} -{"id": "s0084_6e11d932_l_2128", "success": true, "p_success": 0.68, "reason": "The structured hat brim lies between the jaw tips and the nearly stationary close should hold it.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "stack_the_hats"} -{"id": "s0085_536ca306_l_3929", "success": false, "p_success": 0.39, "reason": "The narrow straw bundle is ahead of the gripper and the substantial rise risks closing below or beside it.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "pack_the_takeout_coffee"} -{"id": "s0086_a6032fb9_r_1302", "success": true, "p_success": 0.58, "reason": "The white shirt edge is near the closing jaws and the modest downward motion can pinch a fold.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "fold_and_stack_the_t_shirts"} -{"id": "s0087_536ca306_r_2206", "success": true, "p_success": 0.62, "reason": "The cardboard carrier edge is presented in the jaw gap and can be clamped during the short lateral approach.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "pack_the_takeout_coffee"} -{"id": "s0088_ffcbdb4a_l_579", "success": false, "p_success": 0.46, "reason": "The descent enters a crowded canvas bag and the wide final gap may catch fabric or neighboring bottles instead of securing one.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "take_the_beverage_out_of_the_canvas_bag"} -{"id": "s0089_d0dea976_l_1743", "success": false, "p_success": 0.42, "reason": "The rapid diagonal descent reaches scattered small stationery with limited time to center an individual object.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "sort_the_stationery_into_containers"} -{"id": "s0090_201ea8d5_r_1955", "success": true, "p_success": 0.58, "reason": "The glass stem and rim are near the closing gap and the small translation offers a plausible grasp despite nearby rack hooks.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "take_the_wine_glass_off_the_wine_glass_rack"} -{"id": "s0091_31be0bf8_r_1054", "success": true, "p_success": 0.54, "reason": "The bottle body is ahead of the jaws and the modest close may secure it, though contact depth is unclear.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "put_the_plastic_bottles_in_the_bin"} -{"id": "s0092_eb50ba30_l_506", "success": false, "p_success": 0.4, "reason": "The narrow paper edge is nearly parallel to the jaws and may escape during the downward lateral close.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "place_the_letter_into_the_envelope_and_seal_it"} -{"id": "s0093_73992664_r_1084", "success": true, "p_success": 0.61, "reason": "The descending approach targets an exposed red block with space around its sides.", "actual_success": true, "correct": true, "type": "success_early", "task": "sort_the_legos_into_containers_by_color"} -{"id": "s0094_a921b7fb_l_259", "success": true, "p_success": 0.54, "reason": "The lateral descent reaches the bottle cluster, but neighboring bottles could deflect the target during closure.", "actual_success": true, "correct": true, "type": "success_early", "task": "put_the_plastic_bottles_in_the_bin"} -{"id": "s0095_6c74b0e5_l_514", "success": true, "p_success": 0.59, "reason": "The sock hangs close to the jaw opening and the approach can pinch its fabric below the clips.", "actual_success": true, "correct": true, "type": "success_early", "task": "remove_the_socks_clipped_to_the_hanger"} -{"id": "s0096_151d19a1_l_42", "success": false, "p_success": 0.43, "reason": "The shoe heel is offset from the acting jaw center and the short approach may catch only a shallow upper edge.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "place_and_organize_the_shoes_onto_the_shoe_shelf"} -{"id": "s0097_e1e09885_r_778", "success": true, "p_success": 0.57, "reason": "The planned descent reaches the trouser fabric with a plausible pinch point, though its flat placement makes purchase uncertain.", "actual_success": true, "correct": true, "type": "success_early", "task": "place_the_trousers_on_the_hanger"} -{"id": "s0098_0a4f3280_l_1543", "success": false, "p_success": 0.45, "reason": "The broad bouquet wrapper obscures the stems and the quick close may catch loose paper rather than the bundle.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "place_the_flowers_into_the_vase"} -{"id": "s0099_06c2a6a4_l_225", "success": true, "p_success": 0.58, "reason": "The book edge enters the jaw opening and the short descent can establish opposing contact along its thickness.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "stack_the_books_and_files"} -{"id": "s0100_e1b618d9_r_4279", "success": false, "p_success": 0.39, "reason": "The acting gripper is close to the stand hardware rather than clearly around the microphone body.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "remove_the_microphone_from_the_stand"} -{"id": "s0101_5b75d3bc_l_1974", "success": false, "p_success": 0.37, "reason": "The large downward motion carries the jaws below the visible flowers, with uncertain contact on the stems rather than the vase.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "place_the_flowers_into_the_vase"} -{"id": "s0102_4791bf12_r_559", "success": true, "p_success": 0.51, "reason": "The lateral approach reaches the clear cups, but their transparent rims make final jaw placement uncertain.", "actual_success": true, "correct": true, "type": "success_early", "task": "unload_the_cups_from_the_dish_rack"} -{"id": "s0103_35538f49_r_82", "success": false, "p_success": 0.42, "reason": "The path leaves the current food area and ends without a clearly visible object enclosed by the partial close.", "actual_success": true, "correct": false, "type": "success_early", "task": "place_the_food_in_the_zip_top_bag_and_seal_the_zipper"} -{"id": "s0104_3657d861_l_835", "success": false, "p_success": 0.4, "reason": "The jaws face plastic sleeves rather than an isolated card and may pinch the holder instead of extracting the card.", "actual_success": true, "correct": false, "type": "success_early", "task": "take_the_credit_cards_out_of_the_card_holder"} -{"id": "s0105_a487c045_r_1417", "success": true, "p_success": 0.63, "reason": "The garment or bag edge is already close to the jaws and the nearly stationary close should capture a fold.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "unzip_the_laundry_bag_and_remove_the_bra"} -{"id": "s0106_2224bb63_l_1159", "success": false, "p_success": 0.46, "reason": "The long approach targets a small brooch on the garment, requiring finer alignment than the current view establishes.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "remove_the_brooch_from_the_garment"} -{"id": "s0107_b73b8b9a_r_1487", "success": true, "p_success": 0.67, "reason": "The plate rim is accessible beside the rack and the short forward descent should bring it between the jaws.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "unload_the_plates_from_the_dish_rack"} -{"id": "s0108_d1a409ed_l_981", "success": true, "p_success": 0.58, "reason": "The filter edge is presented by the other gripper and the forward close can pinch the exposed paper.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "place_the_coffee_filter_in_the_dripper"} -{"id": "s0109_211e151e_r_868", "success": false, "p_success": 0.43, "reason": "The lateral rise heads toward the counter while the acting jaws do not yet surround a visible can.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "place_and_organize_the_canned_foods_onto_the_counter"} -{"id": "s0110_ed9685d6_r_3245", "success": true, "p_success": 0.72, "reason": "The stand tube is centered between the jaws and the short close should clamp the narrow rigid shaft.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "pack_up_the_instrument_practice_props"} -{"id": "s0111_a0fd5537_l_2471", "success": true, "p_success": 0.6, "reason": "The upright photo edge passes through the jaw opening and the rising close can retain it.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "put_the_photo_into_the_frame"} -{"id": "s0113_6e11d932_l_4669", "success": true, "p_success": 0.61, "reason": "The stitched brim lies across the jaw opening and offers a firmer pinch point than the crown.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "stack_the_hats"} -{"id": "s0114_cac4e017_l_2724", "success": false, "p_success": 0.42, "reason": "The approach reaches the shoe area but the wide final gap and nearby opposing arm make secure upper contact uncertain.", "actual_success": true, "correct": false, "type": "success_early", "task": "place_and_organize_the_shoes_in_the_shoe_cabinet"} -{"id": "s0115_19a97324_l_4405", "success": false, "p_success": 0.43, "reason": "The large descending sweep follows the bag surface, but the partial closure may not firmly pinch a handle or fold.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "pack_the_student_bag"} -{"id": "s0116_1bceaa4a_l_782", "success": true, "p_success": 0.68, "reason": "The white plug body is presented between the jaws and the small closing displacement should retain it.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "insert_the_plug"} -{"id": "s0117_6fd26635_l_898", "success": false, "p_success": 0.34, "reason": "The long lateral path ends near the container while the visible tools remain away from the acting jaw gap.", "actual_success": true, "correct": false, "type": "success_early", "task": "sort_the_tools_into_containers"} -{"id": "s0118_d7e22fa3_r_1827", "success": true, "p_success": 0.61, "reason": "The folded napkin edge is presented near the jaws and the modest forward descent can secure a fold.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "fold_the_napkin_place_the_utensils_inside_and_roll_it_up"} -{"id": "s0119_291e3ce8_l_3063", "success": true, "p_success": 0.64, "reason": "The shirt fabric extends into the jaw opening and a short downward close should retain it.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "fold_and_stack_the_t_shirts"} -{"id": "s0120_06c2a6a4_r_2323", "success": true, "p_success": 0.73, "reason": "The upright book is deeply seated between the jaws with broad opposing surfaces for a firm clamp.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "stack_the_books_and_files"} -{"id": "s0121_13fa6f16_r_660", "success": true, "p_success": 0.66, "reason": "The slender utensil shafts are aligned in the jaw gap and the short close should hold them.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "place_the_bread"} -{"id": "s0122_adf63b5a_r_2768", "success": false, "p_success": 0.43, "reason": "The rapid forward descent follows a moving towel edge and may close before a stable fold is seated.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "fold_and_stack_the_towels"} -{"id": "s0123_de975454_r_3029", "success": false, "p_success": 0.41, "reason": "The snack packet sits above the jaw tips and the nearly stationary close may pinch the paper bag instead.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "take_the_snacks_out_of_the_paper_bag"} -{"id": "s0124_28b36a8a_r_1809", "success": false, "p_success": 0.35, "reason": "The descending path is over the empty lid area rather than clearly aligned with a chocolate piece.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "pack_the_chocolate"} -{"id": "s0125_4b2c8d30_l_853", "success": true, "p_success": 0.59, "reason": "The downward approach reaches the hanging sock below the rack and offers an accessible fabric pinch.", "actual_success": true, "correct": true, "type": "success_early", "task": "remove_the_socks_clipped_to_the_hanger"} -{"id": "s0126_e1b618d9_l_5844", "success": false, "p_success": 0.36, "reason": "The jaws are crowded by the stand clamp and shaft while the microphone body is above the apparent grasp point.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "remove_the_microphone_from_the_stand"} -{"id": "s0127_eba3e1c6_r_1128", "success": true, "p_success": 0.61, "reason": "The shirt sleeve hangs into the closing region and the lateral approach can capture a substantial fold.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "place_the_shirt_on_the_hanger"} -{"id": "s0128_10c9120d_l_732", "success": true, "p_success": 0.69, "reason": "The rigid hanger bar is clearly between the jaws and the short closing motion should secure it.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "place_the_t_shirt_on_the_hanger"} -{"id": "s0129_4a24f295_l_1198", "success": true, "p_success": 0.55, "reason": "The box flap edge is near the jaw tips and could be pinched, though the nearby tool reduces clearance.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "unpack_the_express_box"} -{"id": "s0130_0b4d2400_l_2686", "success": true, "p_success": 0.54, "reason": "The bag film spans the jaw opening and can be pinched, but grasping the intended contents rather than the bag remains uncertain.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "open_the_zip_top_bag_and_remove_the_fake_food"} -{"id": "s0131_6c74b0e5_l_160", "success": true, "p_success": 0.66, "reason": "The hanging sock is centered near the jaw tips and the small closing motion can retain its fabric.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "remove_the_socks_clipped_to_the_hanger"} -{"id": "s0132_ffcbdb4a_l_2316", "success": true, "p_success": 0.62, "reason": "The descent reaches the relatively isolated bottle in the open bag with room to grasp its neck or body.", "actual_success": true, "correct": true, "type": "success_early", "task": "take_the_beverage_out_of_the_canvas_bag"} -{"id": "s0133_cb2f214a_l_1219", "success": true, "p_success": 0.69, "reason": "A thick folded garment section fills the jaw gap and the short descent should secure it.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "pack_the_luggage"} -{"id": "s0134_de247e0f_r_1642", "success": false, "p_success": 0.44, "reason": "The approach is crowded by the paper bag and cup carrier, obscuring a clean grasp of the intended item.", "actual_success": true, "correct": false, "type": "success_early", "task": "pack_the_takeout_coffee"} -{"id": "s0135_670c7cfd_l_2452", "success": true, "p_success": 0.61, "reason": "The descent approaches the shoe heel with open jaws positioned to pinch the upper.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "place_and_organize_the_shoes_in_the_shoe_cabinet"} -{"id": "s0136_b8480635_r_161", "success": false, "p_success": 0.37, "reason": "The long lateral sweep leaves the visible card holder and the wide final gap is poorly suited to a thin card edge.", "actual_success": true, "correct": false, "type": "success_early", "task": "put_the_credit_cards_into_the_card_holder"} -{"id": "s0137_f21a27ed_l_4013", "success": true, "p_success": 0.59, "reason": "The small charging case is presented near the jaw center and the nearly stationary close can capture its body.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "insert_the_wireless_bluetooth_earbuds_into_the_charging_case"} -{"id": "s0138_ed9685d6_r_2506", "success": false, "p_success": 0.43, "reason": "The jaws face the sheet and stand together, risking contact with the support instead of isolating the intended prop.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "pack_up_the_instrument_practice_props"} -{"id": "s0139_4162fb80_l_2996", "success": true, "p_success": 0.62, "reason": "The forward descent follows an accessible shoe opening and should allow a pinch on its upper edge.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "place_and_organize_the_shoes_in_the_shoe_cabinet"} -{"id": "s0140_fad08c73_l_1451", "success": true, "p_success": 0.67, "reason": "The upright plate rim is close to the jaw opening and the short close can clamp it with little disturbance.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "load_the_plates_into_the_dish_rack"} -{"id": "s0141_dde505d5_r_52", "success": false, "p_success": 0.31, "reason": "The quick descending close begins over the containers and leaves a wide gap without a block clearly between the jaws.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "sort_the_legos_into_containers_by_color"} -{"id": "s0142_80e9d4f2_r_887", "success": true, "p_success": 0.54, "reason": "The approach descends toward the hat brim, but the crown and layered fabric make the final purchase uncertain.", "actual_success": true, "correct": true, "type": "success_early", "task": "stack_the_hats"} -{"id": "s0143_c5902b4f_r_1682", "success": true, "p_success": 0.56, "reason": "The descent reaches the hanging shirt with material available to pinch, though neighboring hangers may interfere.", "actual_success": true, "correct": true, "type": "success_early", "task": "remove_the_shirt_from_the_hanger"} -{"id": "s0144_f2d7ca7c_l_1344", "success": true, "p_success": 0.63, "reason": "The phone edge is presented between the arms and the closing path can establish opposing contact along it.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "put_the_phone_into_the_phone_case"} -{"id": "s0145_8ab53d08_r_563", "success": false, "p_success": 0.42, "reason": "The phone remains above the jaw tips and the rising close may catch only its shallow lower edge.", "actual_success": true, "correct": false, "type": "success_early", "task": "put_the_phone_into_the_phone_case"} -{"id": "s0146_de93f8bb_r_333", "success": true, "p_success": 0.6, "reason": "The zipper strip and bag edge cross the jaw gap and the descending close can clamp that reinforced lip.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "open_the_zip_top_bag_and_remove_the_fake_food"} -{"id": "s0147_6a133e07_r_1809", "success": true, "p_success": 0.61, "reason": "The cardboard carrier wall is seated near the jaw tips and the modest rising close can retain its edge.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "pack_the_takeout_coffee"} -{"id": "s0148_17e585e7_r_5114", "success": true, "p_success": 0.67, "reason": "The folded paper plane has an exposed central ridge that the descending jaws can pinch.", "actual_success": true, "correct": true, "type": "success_early", "task": "fold_a_paper_plane_with_a_square_sheet_of_paper_pick_it_up_from_the_middle"} -{"id": "s0149_7e7b0cb8_l_1588", "success": false, "p_success": 0.48, "reason": "The approach crosses a crowded bowl-and-cup arrangement and may contact more than the intended rim.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "place_the_mixed_dishes_into_the_plastic_bin"} -{"id": "s0150_de93f8bb_r_3323", "success": false, "p_success": 0.38, "reason": "The backward sweep moves away from the centered apple before the jaws finish closing.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "open_the_zip_top_bag_and_remove_the_fake_food"} -{"id": "s0151_3c8d02d9_r_56", "success": true, "p_success": 0.65, "reason": "The pillowcase is bunched between the grippers and the closing motion can secure a substantial fabric fold.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "put_the_pillow_into_the_pillowcase"} -{"id": "s0152_535f2e48_l_1556", "success": false, "p_success": 0.46, "reason": "The long lateral rise reaches across the loose bag, but the final closure lacks a clearly stable film pinch.", "actual_success": false, "correct": true, "type": "fail_early", "task": "put_the_trash_bags_into_the_trash_bin"} -{"id": "s0154_df25bf3b_l_2272", "success": false, "p_success": 0.4, "reason": "The acting jaws approach the dripper without a clearly isolated filter edge and may close on the rim or empty space.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "place_the_coffee_filter_in_the_dripper"} -{"id": "s0155_e55cc103_r_3020", "success": true, "p_success": 0.72, "reason": "The paper plane central fold is visibly seated between the jaws and the closing motion should retain it.", "actual_success": false, "correct": false, "type": "fail_early", "task": "fold_a_paper_plane_with_a_square_sheet_of_paper_pick_it_up_from_the_middle"} -{"id": "s0156_58641195_r_3330", "success": true, "p_success": 0.56, "reason": "The closing sweep follows the bag edge and may gather a fold, though the dark material obscures contact depth.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "pack_the_student_bag"} -{"id": "s0157_3e6588d1_r_625", "success": true, "p_success": 0.64, "reason": "The shoe upper is accessible in front of the jaws and the forward lateral approach can position it for a firm pinch.", "actual_success": false, "correct": false, "type": "fail_early", "task": "place_and_organize_the_shoes_onto_the_shoe_shelf"} -{"id": "s0158_3e3ef71b_r_515", "success": true, "p_success": 0.55, "reason": "The forward rise reaches the hanging sock, but the rack and other gripper constrain clearance near the clip.", "actual_success": false, "correct": false, "type": "fail_early", "task": "remove_the_socks_clipped_to_the_hanger"} -{"id": "s0159_9ee38324_r_396", "success": false, "p_success": 0.35, "reason": "The acting jaws face empty tabletop and the planned endpoint does not clearly enclose the bowl held by the other arm.", "actual_success": false, "correct": true, "type": "fail_early", "task": "load_the_bowls_into_the_dish_rack"} -{"id": "s0160_b979041a_l_954", "success": false, "p_success": 0.43, "reason": "The cup is tilted between closely spaced grippers and the approach may catch only the lid edge rather than its body.", "actual_success": false, "correct": true, "type": "fail_early", "task": "pack_the_takeout_coffee"} -{"id": "s0161_d8a035dc_l_3871", "success": false, "p_success": 0.44, "reason": "The bowl is ahead of the jaw tips and the short upward close may miss its exposed rim.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "unload_the_bowls_from_the_dish_rack"} -{"id": "s0162_8571cadc_r_3053", "success": false, "p_success": 0.35, "reason": "The rack rod occupies the acting jaw opening while the glass hangs off to the side.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "take_the_wine_glass_off_the_wine_glass_rack"} -{"id": "s0163_f393f277_l_1704", "success": false, "p_success": 0.34, "reason": "The final commanded opening remains wide for a slender utensil and no handle is centered in the acting jaws.", "actual_success": false, "correct": true, "type": "fail_early", "task": "sort_the_eating_utensils_into_containers"} -{"id": "s0164_6c74b0e5_l_3213", "success": true, "p_success": 0.6, "reason": "The sock cuff is close to the jaw tips and the short approach can pinch it below the clip.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "remove_the_socks_clipped_to_the_hanger"} -{"id": "s0165_670c7cfd_l_2750", "success": false, "p_success": 0.43, "reason": "The shoe is above and ahead of the jaw tips and the rising partial close risks shallow contact.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "place_and_organize_the_shoes_in_the_shoe_cabinet"} -{"id": "s0166_ab243717_l_486", "success": true, "p_success": 0.66, "reason": "The trouser fold spans the jaw opening and the short downward close should capture enough fabric.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "fold_and_stack_the_trousers"} -{"id": "s0167_44f10ba9_r_2568", "success": false, "p_success": 0.4, "reason": "The plate edge is crowded against the plastic rack and the jaw path may hit the support before enclosing the rim.", "actual_success": false, "correct": true, "type": "fail_early", "task": "load_the_plates_into_the_dish_rack"} -{"id": "s0168_da3c148e_l_1306", "success": false, "p_success": 0.38, "reason": "The acting jaws approach the stand hardware with the phone edge obscured by the opposing gripper.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "remove_the_phone_from_the_phone_stand"} -{"id": "s0169_1c759f54_l_1145", "success": false, "p_success": 0.47, "reason": "The rising lateral sweep crosses a loose bottle cluster, leaving uncertain whether a bottle is captured before being displaced.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "put_the_plastic_bottles_in_the_bin"} -{"id": "s0170_639efba9_l_2444", "success": false, "p_success": 0.41, "reason": "The hanger frame dominates the jaw opening and the sock clip is only shallowly aligned at the tips.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "remove_the_socks_clipped_to_the_hanger"} -{"id": "s0171_3e3ef71b_r_212", "success": true, "p_success": 0.57, "reason": "The forward approach reaches the suspended sock and clip area, although the hanger frame limits clearance.", "actual_success": false, "correct": false, "type": "fail_early", "task": "remove_the_socks_clipped_to_the_hanger"} -{"id": "s0172_02801c08_r_2217", "success": true, "p_success": 0.6, "reason": "The narrow clip or fabric edge lies near the centerline and the small downward close can retain it.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "remove_the_underwear_clipped_to_the_hanger"} -{"id": "s0173_3cc152a2_l_2139", "success": true, "p_success": 0.58, "reason": "The flower stems lie along the approaching jaws and could be clamped below the blossoms despite nearby vase contact.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "place_the_flowers_into_the_vase"} -{"id": "s0174_f26fd9fb_r_2206", "success": false, "p_success": 0.45, "reason": "The bag film covers the approaching jaws and may be caught before the intended fruit is securely enclosed.", "actual_success": false, "correct": true, "type": "fail_early", "task": "take_the_fake_fruits_out_of_the_plastic_bag"} -{"id": "s0175_4e0da4f2_r_1338", "success": false, "p_success": 0.47, "reason": "The gripper approaches the bag mouth obliquely and the intended item is not clearly isolated from the fabric edge.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "pack_the_student_bag"} -{"id": "s0176_f904c81f_r_290", "success": false, "p_success": 0.33, "reason": "The long forward sweep ends beyond the visible objects without a clear item seated between the jaws.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "pack_the_luggage"} -{"id": "s0177_9fb361dd_l_193", "success": true, "p_success": 0.62, "reason": "The sock and clip are close to the jaw opening and the small upward close offers a plausible secure pinch.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "remove_the_socks_clipped_to_the_hanger"} -{"id": "s0178_def1f3a4_l_3806", "success": false, "p_success": 0.44, "reason": "The large lateral descent reaches the suitcase edge with no handle clearly centered in the partially closing jaws.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "pack_the_luggage"} -{"id": "s0179_a921b7fb_r_2469", "success": true, "p_success": 0.59, "reason": "The bottle body spans the jaw region and the descending close can establish contact, though the bin is crowded.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "put_the_plastic_bottles_in_the_bin"} -{"id": "s0180_2b721695_r_2425", "success": false, "p_success": 0.45, "reason": "The jaws approach the bag edge beside the basket while the intended food remains obscured by plastic.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "place_the_food_in_the_zip_top_bag_and_seal_the_zipper"} -{"id": "s0181_c414104e_l_457", "success": true, "p_success": 0.61, "reason": "The black shirt corner lies across the closing jaw region and the short forward motion can capture it.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "fold_and_stack_the_t_shirts"} -{"id": "s0182_f200079e_l_2586", "success": true, "p_success": 0.68, "reason": "A bunched section of shirt is presented between the jaws and the descent should establish a substantial pinch.", "actual_success": false, "correct": false, "type": "fail_early", "task": "fold_and_stack_the_t_shirts"} -{"id": "s0183_8e282731_l_2431", "success": true, "p_success": 0.67, "reason": "The bottle body is centered between the open jaws and the small displacement should preserve alignment during closure.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "put_the_plastic_bottles_in_the_bin"} -{"id": "s0184_d8a035dc_l_237", "success": false, "p_success": 0.47, "reason": "The diagonal descent passes beneath the rack toward a bowl, but the other gripper and rack legs obscure clean rim access.", "actual_success": false, "correct": true, "type": "fail_early", "task": "unload_the_bowls_from_the_dish_rack"} -{"id": "s0185_9f523d1d_l_1804", "success": true, "p_success": 0.58, "reason": "The approach follows a raised shirt fold that can enter the jaws, though the longer path may drag it.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "fold_and_stack_the_t_shirts"} -{"id": "s0186_2e1d34ec_r_836", "success": true, "p_success": 0.54, "reason": "The descent reaches graspable blocks, but overlapping pieces leave the target and opposing contacts uncertain.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "sort_the_legos_into_containers_by_color"} -{"id": "s0187_9a8ca9d4_r_551", "success": false, "p_success": 0.45, "reason": "The long lateral sweep moves from the bin toward the other arm with uncertain capture of a single bottle.", "actual_success": false, "correct": true, "type": "fail_early", "task": "put_the_plastic_bottles_in_the_bin"} -{"id": "s0188_02801c08_l_1522", "success": true, "p_success": 0.63, "reason": "The narrow clip is presented close to the jaw center and the modest closing motion should retain it.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "remove_the_underwear_clipped_to_the_hanger"} -{"id": "s0189_0bc1bd7e_r_377", "success": true, "p_success": 0.52, "reason": "The bag film reaches the closing region, but the upward motion may pull the jaws away before a deep fold is secured.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "put_the_trash_bags_into_the_trash_bin"} -{"id": "s0190_cfe85fb7_l_487", "success": true, "p_success": 0.58, "reason": "The sock hangs near the approaching jaws and the modest forward close can pinch its fabric below the clip.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "remove_the_socks_clipped_to_the_hanger"} -{"id": "s0191_fe0cd63d_r_1390", "success": false, "p_success": 0.41, "reason": "The card remains inside a plastic sleeve and the close may grasp the sleeve rather than the card itself.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "put_the_credit_cards_into_the_card_holder"} -{"id": "s0192_92af51ef_l_5195", "success": true, "p_success": 0.61, "reason": "The pen is presented near the jaw centerline and the small upward close offers a plausible shaft grasp.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "insert_the_pens_into_the_pen_caps"} -{"id": "s0193_d3a650ba_l_4788", "success": false, "p_success": 0.39, "reason": "The jaws face the box wall while the small contents remain deeper inside, risking a flap grasp rather than a pickup.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "unpack_the_express_box"} -{"id": "s0194_84fe68d9_r_1345", "success": false, "p_success": 0.44, "reason": "The lateral closing motion follows a shallow shirt edge that may slide away from the jaw tips.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "fold_and_stack_the_t_shirts"} -{"id": "s0195_0f98afa3_l_633", "success": true, "p_success": 0.59, "reason": "The trouser cuff lies close to the jaws and the nearly stationary close can retain its hem.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "place_the_trousers_on_the_hanger"} -{"id": "s0196_eb50ba30_l_4210", "success": true, "p_success": 0.62, "reason": "The narrow cylindrical item is presented along the jaw centerline and can be clamped during the short close.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "place_the_letter_into_the_envelope_and_seal_it"} -{"id": "s0197_7d96f1e1_r_55", "success": true, "p_success": 0.57, "reason": "The forward approach reaches a sock fold near the tray edge with a plausible fabric pinch point.", "actual_success": false, "correct": false, "type": "fail_early", "task": "clip_the_socks_to_the_hanger"} -{"id": "s0198_1369e8ef_r_1417", "success": false, "p_success": 0.35, "reason": "The jaws face the soft cap crown and rise substantially while only partially closing, risking a shallow fabric pinch.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "stack_the_hats"} -{"id": "s0199_a39aeb5c_r_5527", "success": true, "p_success": 0.56, "reason": "The forward descent reaches the shirt edge and may gather fabric, although the rapid motion reduces alignment margin.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "fold_and_stack_the_t_shirts"} -{"id": "s0200_0f4ed64f_r_318", "success": true, "p_success": 0.6, "reason": "The descent targets a bottle body that is visible within the open jaw region, with some risk from neighboring bottles.", "actual_success": false, "correct": false, "type": "fail_early", "task": "put_the_plastic_bottles_in_the_bin"} -{"id": "s0201_47d81e9a_l_853", "success": true, "p_success": 0.59, "reason": "A green block is positioned near the jaw gap and the short close can clamp its opposing sides.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "sort_the_legos_into_containers_by_color"} -{"id": "s0202_1c759f54_l_166", "success": false, "p_success": 0.49, "reason": "The long curved approach crosses several loose bottles, leaving uncertain which body remains aligned at closure.", "actual_success": false, "correct": true, "type": "fail_early", "task": "put_the_plastic_bottles_in_the_bin"} -{"id": "s0203_8be6027b_l_735", "success": true, "p_success": 0.62, "reason": "The filter edge is visibly presented near the jaws and the small downward close can pinch it against the opposing pad.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "place_the_coffee_filter_in_the_dripper"} -{"id": "s0204_8875a33e_r_3917", "success": false, "p_success": 0.38, "reason": "The downward path reaches the box area without a cookie clearly seated in the acting jaw opening.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "pack_the_cookies"} -{"id": "s0205_2b4e68b0_l_2026", "success": true, "p_success": 0.57, "reason": "The folded filter edge lies across the jaws and could be retained through the backward close, though the long translation may displace it.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "place_the_coffee_filter_in_the_dripper"} -{"id": "s0206_03fe0bdc_r_48", "success": false, "p_success": 0.43, "reason": "The upward close starts beside overlapping pasta packages and may rise before a package is deeply enclosed.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "place_and_organize_the_pasta_boxes_and_bags_onto_the_shelf"} -{"id": "s0207_3c253aa6_r_3527", "success": true, "p_success": 0.61, "reason": "The sneaker heel is aligned near the jaw gap and the nearly stationary close can pinch its upper.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "place_and_organize_the_shoes_onto_the_shoe_shelf"} -{"id": "s0208_1bc08f3a_r_1693", "success": true, "p_success": 0.63, "reason": "The upright phone edge is accessible between the arms and the closing approach can provide opposing contact.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "put_the_phone_into_the_phone_case"} -{"id": "s0209_8f375293_r_1102", "success": true, "p_success": 0.57, "reason": "The backward descent returns to separated blocks on the table with space to enclose one.", "actual_success": false, "correct": false, "type": "fail_early", "task": "sort_the_legos_into_containers_by_color"} -{"id": "s0210_5a2a6fe4_l_1202", "success": true, "p_success": 0.55, "reason": "The packet edge reaches the jaw region and could be pinched, though the partial closure and shelf proximity reduce certainty.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "place_and_organize_the_chips_bags_onto_the_shelf"} -{"id": "s0211_bcf9b832_r_2033", "success": true, "p_success": 0.59, "reason": "The pillowcase lip is gathered between the arms and the close can capture a fold despite the curved approach.", "actual_success": false, "correct": false, "type": "fail_early", "task": "put_the_pillow_into_the_pillowcase"} -{"id": "s0212_f904c81f_r_1316", "success": false, "p_success": 0.41, "reason": "The jaws approach the suitcase interior without a clearly isolated object or fabric fold in the closing gap.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "pack_the_luggage"} -{"id": "s0213_47175a6c_r_359", "success": true, "p_success": 0.64, "reason": "The exposed plate rim is near the acting jaw center and the short lateral close should clamp it.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "unload_the_mixed_dishes_from_the_dish_rack"} -{"id": "s0214_243a8d2c_r_1386", "success": false, "p_success": 0.46, "reason": "The rising lateral approach starts above flat phones and does not yet establish a secure edge between the jaws.", "actual_success": false, "correct": true, "type": "fail_early", "task": "take_the_phone_out_of_the_phone_case"} -{"id": "s0215_a4aabe0d_r_1267", "success": true, "p_success": 0.52, "reason": "The apple is aligned ahead of the jaws, but the long rising approach leaves uncertainty about enclosing its rounded body.", "actual_success": false, "correct": false, "type": "fail_early", "task": "place_the_food_in_the_zip_top_bag_and_seal_the_zipper"} -{"id": "s0216_d0e786a9_r_849", "success": false, "p_success": 0.44, "reason": "The bottle is offset ahead of the jaws near the shelf and the short partial close may not surround its body.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "place_and_organize_the_beverage_onto_the_shelf"} -{"id": "s0217_ec382b70_r_870", "success": false, "p_success": 0.39, "reason": "The jaw opening is aligned with rack wires rather than a clearly isolated plate rim.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "load_the_plates_into_the_dish_rack"} -{"id": "s0218_6214e1ab_r_2424", "success": false, "p_success": 0.45, "reason": "The descending lateral approach reaches the dripper area, but the filter is not clearly presented between the acting jaws.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "place_the_coffee_filter_in_the_dripper"} -{"id": "s0219_44f10ba9_l_4318", "success": true, "p_success": 0.62, "reason": "The exposed plate edge is close to the jaws and the planned close can establish opposing rim contact.", "actual_success": false, "correct": false, "type": "fail_early", "task": "load_the_plates_into_the_dish_rack"} -{"id": "s0220_b730d58f_l_209", "success": false, "p_success": 0.4, "reason": "The small stationery item remains ahead of the tips and the partial stationary close may leave insufficient contact.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "sort_the_stationery_into_containers"} -{"id": "s0221_b03d8e78_l_1387", "success": true, "p_success": 0.65, "reason": "A raised trouser fold is near the jaw center and the short forward close can secure the fabric.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "fold_and_stack_the_trousers"} -{"id": "s0222_17f5f0f9_l_1069", "success": true, "p_success": 0.68, "reason": "The upright phone is deeply aligned with the jaw opening and should remain clamped during the upward close.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "put_the_phone_into_the_phone_case"} -{"id": "s0223_c40b5f48_r_1547", "success": true, "p_success": 0.57, "reason": "The exposed card edge is presented across the jaws, though the tray and neighboring cards reduce clearance.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "put_the_credit_cards_into_the_card_holder"} -{"id": "s0224_91aacb56_r_2480", "success": true, "p_success": 0.64, "reason": "The pillowcase has a loose edge around the exposed pillow that the descending close can pinch.", "actual_success": false, "correct": false, "type": "fail_early", "task": "remove_the_pillowcase_from_the_pillow"} -{"id": "s0225_0bc1bd7e_l_3209", "success": true, "p_success": 0.57, "reason": "The descent reaches the bin liner edge and the jaws can gather the exposed bag film.", "actual_success": false, "correct": false, "type": "fail_early", "task": "put_the_trash_bags_into_the_trash_bin"} -{"id": "s0226_54972992_r_2147", "success": true, "p_success": 0.61, "reason": "The small white case is presented between the grippers and the modest descent can seat it in the acting jaws.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "insert_the_wireless_bluetooth_earbuds_into_the_charging_case"} -{"id": "s0227_7279b7ab_r_160", "success": false, "p_success": 0.49, "reason": "The long descent reaches the fruit area, but the moving view and round objects leave final enclosure uncertain.", "actual_success": false, "correct": true, "type": "fail_early", "task": "place_and_organize_the_fake_fruits_in_the_fruit_bowl"} -{"id": "s0228_857c5cd3_l_5884", "success": true, "p_success": 0.6, "reason": "The shirt corner lies near the jaw tips and the small downward close can pinch the hem.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "fold_and_stack_the_t_shirts"} -{"id": "s0229_cac4e017_l_935", "success": false, "p_success": 0.41, "reason": "The shoe toe is above the jaw opening and the upward partial close may catch only a shallow edge.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "place_and_organize_the_shoes_in_the_shoe_cabinet"} -{"id": "s0230_cf6801f7_r_1850", "success": true, "p_success": 0.53, "reason": "The cup is near the closing region, but its handle and the final grasp depth are not clearly visible.", "actual_success": false, "correct": false, "type": "fail_early", "task": "place_the_cup_by_the_coaster"} -{"id": "s0231_fca86ed4_r_3389", "success": false, "p_success": 0.35, "reason": "The acting jaws face open tabletop while the visible cup is held by the other arm outside the closing gap.", "actual_success": false, "correct": true, "type": "fail_early", "task": "unload_the_cups_from_the_dish_rack"} -{"id": "s0232_d4e0aa21_l_2692", "success": false, "p_success": 0.4, "reason": "Rack wires cross the approach to the closely packed bowls and may block a clean rim grasp.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "unload_the_bowls_from_the_dish_rack"} -{"id": "s0233_6b8ba92a_r_874", "success": true, "p_success": 0.6, "reason": "The descending jaws surround a fruit body in the basket, though the wide final gap and neighboring fruit reduce certainty.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "place_the_food_in_the_zip_top_bag_and_seal_the_zipper"} -{"id": "s0234_b01721ec_r_6390", "success": true, "p_success": 0.67, "reason": "The folded napkin edge is supported by the other arm and lies directly in the acting jaw gap.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "fold_the_napkin_into_a_case_and_place_the_utensils_inside"} -{"id": "s0235_4162fb80_l_3356", "success": true, "p_success": 0.54, "reason": "The descending approach targets the shoe upper, but the curved path leaves final heel alignment uncertain.", "actual_success": false, "correct": false, "type": "fail_early", "task": "place_and_organize_the_shoes_in_the_shoe_cabinet"} -{"id": "s0236_6c74b0e5_r_2133", "success": true, "p_success": 0.63, "reason": "The sock and clip are presented near the jaws and the forward close can establish a firm pinch.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "remove_the_socks_clipped_to_the_hanger"} -{"id": "s0237_b2caf120_l_388", "success": true, "p_success": 0.56, "reason": "The laundry bag seam is exposed near the jaws and can be pinched, though the adjacent gripper may restrict access.", "actual_success": false, "correct": false, "type": "fail_early", "task": "unzip_the_laundry_bag_and_remove_the_bra"} -{"id": "s0238_48fa5437_l_3038", "success": false, "p_success": 0.44, "reason": "The soft cap crown is ahead of the jaw tips without a clearly seated brim or deep fold.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "stack_the_hats"} -{"id": "s0239_38229317_l_2104", "success": true, "p_success": 0.51, "reason": "The lateral approach reaches the coffee packing area, but the cup to be grasped is not yet centered in the acting view.", "actual_success": false, "correct": false, "type": "fail_early", "task": "pack_the_takeout_coffee"} -{"id": "s0240_a39aeb5c_r_2261", "success": false, "p_success": 0.28, "reason": "The planned sweep ends away from the visible shirt and the acting jaws currently face empty tabletop.", "actual_success": false, "correct": true, "type": "fail_early", "task": "fold_and_stack_the_t_shirts"} -{"id": "s0241_22bed84a_r_2708", "success": false, "p_success": 0.36, "reason": "The jaws are aligned with the canvas bag edge rather than a visible bottle body inside it.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "take_the_beverage_out_of_the_canvas_bag"} -{"id": "s0242_b36a73f4_l_2987", "success": true, "p_success": 0.53, "reason": "The approach reaches a cylindrical stationery container presented by the other arm, but its offset position makes contact uncertain.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "sort_the_stationery_into_containers"} -{"id": "s0243_3d1b17df_l_2052", "success": true, "p_success": 0.58, "reason": "The glass stem is presented near the acting jaw opening and the lateral descent can clamp it clear of the rack.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "take_the_wine_glass_off_the_wine_glass_rack"} -{"id": "s0244_a921b7fb_r_846", "success": true, "p_success": 0.6, "reason": "The blue-capped bottle body lies between the jaw approach lines and the short close can retain it despite clutter.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "put_the_plastic_bottles_in_the_bin"} -{"id": "s0245_eab39ed1_r_1133", "success": true, "p_success": 0.59, "reason": "The paper edge is upright between the grippers and the small closing motion can pinch it.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "place_the_letter_into_the_envelope_and_seal_it"} -{"id": "s0246_d9be7ad1_l_667", "success": false, "p_success": 0.36, "reason": "The jaws face the organizer wall while the blocks remain off to the side of the partial closing gap.", "actual_success": false, "correct": true, "type": "fail_early", "task": "sort_the_legos_into_containers_by_color"} -{"id": "s0247_e82239d4_r_233", "success": true, "p_success": 0.62, "reason": "The descent reaches the isolated bottle beside the bin with accessible opposing sides.", "actual_success": false, "correct": false, "type": "fail_early", "task": "put_the_plastic_bottles_in_the_bin"} -{"id": "s0248_639efba9_r_160", "success": true, "p_success": 0.63, "reason": "The sock cuff and clip are within the approach corridor and the upward close can establish a firm pinch.", "actual_success": false, "correct": false, "type": "fail_early", "task": "remove_the_socks_clipped_to_the_hanger"} -{"id": "s0249_3c253aa6_r_2001", "success": false, "p_success": 0.47, "reason": "The shoe is close to the jaw tips but the shelf edge and adjacent shoe make the final contact shallow and uncertain.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "place_and_organize_the_shoes_onto_the_shoe_shelf"} -{"id": "s0250_0f98afa3_l_252", "success": true, "p_success": 0.57, "reason": "The trouser hem crosses the approaching jaws, though the forward rise could pull the edge out before full closure.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "place_the_trousers_on_the_hanger"} -{"id": "s0251_eeb33c46_l_181", "success": true, "p_success": 0.55, "reason": "The bouquet wrapper narrows near the tie where the jaws approach, offering a plausible grasp with some risk of catching only paper.", "actual_success": false, "correct": false, "type": "fail_early", "task": "place_the_flowers_into_the_vase"} -{"id": "s0252_60f8e670_l_1517", "success": true, "p_success": 0.6, "reason": "The book edge is presented across the jaw opening and the short descent should clamp its thickness.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "stack_the_books_and_files"} -{"id": "s0253_abae7512_l_1233", "success": true, "p_success": 0.56, "reason": "The microphone body is close to the jaws, but the stand clip may obstruct opposing contact during closure.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "remove_the_microphone_from_the_stand"} -{"id": "s0254_3cc152a2_l_381", "success": true, "p_success": 0.51, "reason": "The descending approach reaches the bouquet wrapper near its tie, though the stems are obscured by the other gripper.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "place_the_flowers_into_the_vase"} -{"id": "s0255_fca86ed4_r_1170", "success": true, "p_success": 0.6, "reason": "The cup rim lies near the jaw tips and the backward close can pinch it clear of the nearby cloth.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "unload_the_cups_from_the_dish_rack"} -{"id": "s0256_0edfb730_l_2380", "success": false, "p_success": 0.37, "reason": "The large upward close begins above a crowded food tray without a clearly enclosed item at the jaw tips.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "place_the_food_in_the_zip_top_bag_and_seal_the_zipper"} -{"id": "s0257_49817cbd_l_3817", "success": false, "p_success": 0.44, "reason": "The descent targets a thin card or sleeve lying flat, making access beneath its edge uncertain.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "take_the_credit_cards_out_of_the_card_holder"} -{"id": "s0258_b7716484_r_1119", "success": true, "p_success": 0.59, "reason": "The laundry-bag seam is presented by the other arm and the short close can pinch the reinforced edge.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "unzip_the_laundry_bag_and_remove_the_bra"} -{"id": "s0259_e26fa0af_l_3316", "success": true, "p_success": 0.64, "reason": "The small brooch is aligned between the grippers and the nearly stationary close can clamp its exposed body.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "remove_the_brooch_from_the_garment"} -{"id": "s0260_d27e35cd_l_1775", "success": true, "p_success": 0.52, "reason": "The approach reaches a plate rim in the rack, but adjacent plates and wires constrain the jaw clearance.", "actual_success": false, "correct": false, "type": "fail_early", "task": "unload_the_plates_from_the_dish_rack"} -{"id": "s0261_2b4e68b0_l_1877", "success": true, "p_success": 0.67, "reason": "The filter fold is clearly seated between the jaw tips and the short close should preserve that pinch.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "place_the_coffee_filter_in_the_dripper"} -{"id": "s0262_28c8d41b_r_2416", "success": true, "p_success": 0.61, "reason": "The can body is centered at the jaw opening and the small rising close can establish broad opposing contact.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "place_and_organize_the_canned_foods_onto_the_counter"} -{"id": "s0263_ed9685d6_l_3299", "success": true, "p_success": 0.69, "reason": "The rigid stand tube is centered between the jaws and the nearly stationary close should secure it.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "pack_up_the_instrument_practice_props"} -{"id": "s0264_b34dadd5_l_1282", "success": false, "p_success": 0.44, "reason": "The approach follows the frame edge but does not clearly isolate the thin photo from the frame or transparent insert.", "actual_success": false, "correct": true, "type": "fail_early", "task": "put_the_photo_into_the_frame"} -{"id": "s0265_ec382b70_l_1217", "success": false, "p_success": 0.36, "reason": "The acting jaws face the rack and opposing gripper with no plate rim visibly seated in their gap.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "load_the_plates_into_the_dish_rack"} -{"id": "s0266_1369e8ef_l_58", "success": false, "p_success": 0.4, "reason": "The cap brim is ahead of the tips and the quick upward close may lift away before enclosing its edge.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "stack_the_hats"} -{"id": "s0267_8286919d_r_2417", "success": false, "p_success": 0.39, "reason": "The shelf board obstructs the shoe opening and the close risks pinching against the shelf instead of gripping the upper.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "place_and_organize_the_shoes_in_the_shoe_cabinet"} -{"id": "s0268_58641195_r_3565", "success": false, "p_success": 0.35, "reason": "The final commanded opening remains wide while the bag edge is only shallowly aligned with the jaws.", "actual_success": false, "correct": true, "type": "fail_early", "task": "pack_the_student_bag"} -{"id": "s0269_84d5a6ab_l_3726", "success": true, "p_success": 0.53, "reason": "The forward descent approaches a plug-sized object, though the nearby outlet block obscures precise contact.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "insert_the_plug"} -{"id": "s0270_bfb7dd87_r_64", "success": false, "p_success": 0.3, "reason": "The acting jaws face empty tabletop and the very short close does not reach the visible tools.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "sort_the_tools_into_containers"} -{"id": "s0271_1ea74b8e_l_68", "success": true, "p_success": 0.59, "reason": "The napkin edge is close to the jaw tips and the nearly stationary close can capture a fold.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "fold_the_napkin_place_the_utensils_inside_and_roll_it_up"} -{"id": "s0272_117a734e_l_1494", "success": true, "p_success": 0.55, "reason": "The downward lateral approach reaches the shirt hem, though its flat placement makes the final pinch uncertain.", "actual_success": false, "correct": false, "type": "fail_early", "task": "fold_and_stack_the_t_shirts"} -{"id": "s0273_fb64b434_r_3381", "success": true, "p_success": 0.64, "reason": "The upright book spine is seated in the jaw opening and offers broad opposing surfaces for a clamp.", "actual_success": false, "correct": false, "type": "fail_early", "task": "stack_the_books_and_files"} -{"id": "s0274_cd143549_r_625", "success": true, "p_success": 0.57, "reason": "The utensil shafts are aligned with the jaws and the descending sweep can retain them while approaching the bread.", "actual_success": false, "correct": false, "type": "fail_early", "task": "place_the_bread"} -{"id": "s0275_adf63b5a_r_40", "success": false, "p_success": 0.47, "reason": "The long curved motion reaches a towel in the basket, but the upward close may catch only a shallow edge.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "fold_and_stack_the_towels"} -{"id": "s0276_f75d64df_l_805", "success": true, "p_success": 0.63, "reason": "The snack packet body is centered ahead of the jaws and the short forward close can compress and retain it.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "take_the_snacks_out_of_the_paper_bag"} -{"id": "s0277_d8698b57_l_231", "success": false, "p_success": 0.43, "reason": "The acting jaws are crowded by utensils and the other gripper without a chocolate clearly seated between the tips.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "pack_the_chocolate"} -{"id": "s0278_45e11483_r_3211", "success": true, "p_success": 0.65, "reason": "The plate rim is close to the jaw opening and the modest closing displacement should preserve a secure edge pinch.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "load_the_plates_into_the_dish_rack"} -{"id": "s0279_77729cd0_l_992", "success": true, "p_success": 0.56, "reason": "The approach reaches the sock clip beneath the frame, although the opposing gripper limits the available clearance.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "remove_the_socks_clipped_to_the_hanger"} -{"id": "s0280_abae7512_l_258", "success": false, "p_success": 0.44, "reason": "The microphone remains offset ahead of the acting jaws and the stand hardware obscures secure body contact.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "remove_the_microphone_from_the_stand"} -{"id": "s0281_8a600716_r_1323", "success": true, "p_success": 0.61, "reason": "The shirt fold is presented between the grippers and the descending close can capture a substantial section.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "place_the_shirt_on_the_hanger"} -{"id": "s0282_e3df98e1_l_2036", "success": true, "p_success": 0.65, "reason": "The shirt edge and hanger are close to the jaws and the short close can retain the presented fabric fold.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "place_the_t_shirt_on_the_hanger"} -{"id": "s0283_b7462942_r_2908", "success": false, "p_success": 0.48, "reason": "The narrow cardboard edge is near the jaws, but the partial close may provide only shallow purchase on the box flap.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "unpack_the_express_box"} -{"id": "s0284_83544adb_r_1138", "success": true, "p_success": 0.55, "reason": "The open bag exposes the food near the closing region, though the clustered contents and film may interfere with a clean grasp.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "open_the_zip_top_bag_and_remove_the_fake_food"} -{"id": "s0285_13f93ec4_l_272", "success": false, "p_success": 0.35, "reason": "The hanger frame crosses the jaw opening and the wide partial close is unlikely to isolate the sock clip securely.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "remove_the_socks_clipped_to_the_hanger"} -{"id": "s0286_22bed84a_r_2251", "success": false, "p_success": 0.34, "reason": "The acting jaws remain outside the bag near its handle while the bottles are deeper inside.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "take_the_beverage_out_of_the_canvas_bag"} -{"id": "s0287_76d3a792_r_2666", "success": true, "p_success": 0.68, "reason": "The thick folded towel is presented between the grippers and the small downward close should retain it.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "pack_the_luggage"} -{"id": "s0288_38229317_r_3830", "success": true, "p_success": 0.58, "reason": "The paper bag lip spans the jaw opening and the forward close can pinch a fold near the handle.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "pack_the_takeout_coffee"} -{"id": "s0289_d08765d0_l_113", "success": false, "p_success": 0.33, "reason": "The cabinet edge blocks the acting jaw view and the shoe is not clearly within the closing gap.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "place_and_organize_the_shoes_in_the_shoe_cabinet"} -{"id": "s0290_5e6d3b53_r_2308", "success": false, "p_success": 0.45, "reason": "The upward lateral approach faces several cards in a holder without a single exposed edge clearly isolated.", "actual_success": false, "correct": true, "type": "fail_early", "task": "put_the_credit_cards_into_the_card_holder"} -{"id": "s0291_20a3acac_r_1784", "success": true, "p_success": 0.59, "reason": "The charging case is presented near the acting jaws and the lateral close can capture its body, though the other gripper crowds it.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "insert_the_wireless_bluetooth_earbuds_into_the_charging_case"} -{"id": "s0292_ed9685d6_r_1590", "success": true, "p_success": 0.6, "reason": "The metronome body is close to the jaw opening and the small translation should allow opposing contact.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "pack_up_the_instrument_practice_props"} -{"id": "s0293_670c7cfd_l_4431", "success": true, "p_success": 0.5, "reason": "The forward rise approaches the shoe heel near the cabinet, with uncertain clearance beneath the shelf.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "place_and_organize_the_shoes_in_the_shoe_cabinet"} -{"id": "s0294_347bd73f_r_1361", "success": false, "p_success": 0.42, "reason": "The plate rim is crowded among neighboring plates and rack bars, making a clean isolated pinch uncertain.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "load_the_plates_into_the_dish_rack"} -{"id": "s0295_c83bf764_l_787", "success": true, "p_success": 0.53, "reason": "The lateral approach reaches the loose blocks, but the final target is not yet centered in the acting jaws.", "actual_success": false, "correct": false, "type": "fail_early", "task": "sort_the_legos_into_containers_by_color"} -{"id": "s0297_e250e243_l_1782", "success": true, "p_success": 0.67, "reason": "The shirt fabric is bunched in the jaw opening and the short close should retain a substantial fold.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "remove_the_shirt_from_the_hanger"} -{"id": "s0298_8ab53d08_r_433", "success": false, "p_success": 0.37, "reason": "The phone remains offset near the other gripper and the wide partial close may fail to establish opposing contact.", "actual_success": false, "correct": true, "type": "fail_early", "task": "put_the_phone_into_the_phone_case"} -{"id": "s0299_b81c90c9_r_646", "success": true, "p_success": 0.58, "reason": "The upright phone edge is near the acting jaws, but the quick upward motion may reduce the depth of contact.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "put_the_phone_into_the_phone_case"} -{"id": "s0300_bbd62cca_r_968", "success": false, "p_success": 0.44, "reason": "The long backward sweep moves away from the visible pear and leaves the final food grasp uncertain.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "open_the_zip_top_bag_and_remove_the_fake_food"} -{"id": "s0301_c898e489_l_1660", "success": true, "p_success": 0.64, "reason": "The cardboard carrier edge is presented between the jaws and the modest forward close can clamp it.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "pack_the_takeout_coffee"} -{"id": "s0302_61757e14_r_3715", "success": true, "p_success": 0.68, "reason": "The paper plane central fold is clearly aligned with the jaw opening and the lateral descent can pinch it.", "actual_success": false, "correct": false, "type": "fail_early", "task": "fold_a_paper_plane_with_a_square_sheet_of_paper_pick_it_up_from_the_middle"} -{"id": "s0303_0de45c6a_r_904", "success": true, "p_success": 0.55, "reason": "The forward approach reaches the exposed cup area, though neighboring dishes make precise rim capture uncertain.", "actual_success": false, "correct": false, "type": "fail_early", "task": "place_the_mixed_dishes_into_the_plastic_bin"} -{"id": "s0304_a860ce76_l_552", "success": true, "p_success": 0.61, "reason": "The reinforced zipper edge is presented near the jaw center and the forward close can secure that lip.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "open_the_zip_top_bag_and_remove_the_fake_food"} -{"id": "s0305_9db4e21e_r_5543", "success": true, "p_success": 0.59, "reason": "The downward lateral approach reaches a loose pillowcase edge that can be gathered into the jaws.", "actual_success": false, "correct": false, "type": "fail_early", "task": "put_the_pillow_into_the_pillowcase"} diff --git a/predictions.jsonl b/predictions.jsonl deleted file mode 100644 index e347916090d818b9ab9a322f8a80bd0ed823793c..0000000000000000000000000000000000000000 --- a/predictions.jsonl +++ /dev/null @@ -1,306 +0,0 @@ -{"id": "s0000_e37154ab_r_1320", "success": true, "p_success": 0.58, "reason": "The bag material spans the jaw opening and the rising close could retain a fold, although the thin plastic may slip."} -{"id": "s0001_3c2d9790_r_777", "success": true, "p_success": 0.64, "reason": "The hanger bar is between the jaws and the short closing motion appears able to clamp it."} -{"id": "s0002_574e02cc_r_1404", "success": false, "p_success": 0.35, "reason": "The jaws approach the plastic holder obliquely without a clearly isolated card edge between them."} -{"id": "s0003_8b0fc929_l_1771", "success": false, "p_success": 0.42, "reason": "Only a thin filter edge reaches the jaw gap and the partial close may not secure it."} -{"id": "s0004_7fe08c80_r_2090", "success": false, "p_success": 0.35, "reason": "The planned lateral sweep carries the gripper away from the visible shoe opening before closing."} -{"id": "s0005_3ad71a45_l_2157", "success": true, "p_success": 0.52, "reason": "The long approach reaches the hanging fabric, but the clip contact is not yet clear."} -{"id": "s0006_e3d7715b_r_443", "success": false, "p_success": 0.32, "reason": "The acting jaws face open rack wires and the rising lateral path lacks a clearly captured bowl rim."} -{"id": "s0007_de247e0f_l_1182", "success": true, "p_success": 0.72, "reason": "The cup is centered between the jaws and the modest downward approach should establish contact around its body."} -{"id": "s0008_229f977d_l_1860", "success": true, "p_success": 0.56, "reason": "The downward approach reaches the bowl at the rack edge, although wire clearance and the final jaw gap are uncertain."} -{"id": "s0009_201ea8d5_r_309", "success": false, "p_success": 0.48, "reason": "The approach reaches the wine-glass rack, but the stem is not yet centered and the partial close leaves uncertain purchase."} -{"id": "s0010_e84d0e9e_r_599", "success": false, "p_success": 0.38, "reason": "The slender utensil is off to one side of the acting jaws and the lateral close risks missing its shaft."} -{"id": "s0011_3ad71a45_l_1965", "success": false, "p_success": 0.48, "reason": "The large sweep approaches the hanging sock but leaves the eventual clip engagement uncertain."} -{"id": "s0012_da30fafe_r_135", "success": true, "p_success": 0.68, "reason": "The shoe heel lies within the jaw opening and the short closing motion should pinch the upper securely."} -{"id": "s0013_60f44a8d_r_1311", "success": true, "p_success": 0.65, "reason": "A substantial fold of trouser fabric fills the jaw gap and little translation is commanded during closure."} -{"id": "s0014_783d143d_r_3872", "success": false, "p_success": 0.44, "reason": "The lateral approach crosses the loaded rack and may contact a plate face or wire rather than isolate a rim."} -{"id": "s0015_9bd892f2_l_2676", "success": false, "p_success": 0.27, "reason": "The acting jaws are aligned with the stand post while the visible phone remains offset to the other side."} -{"id": "s0016_72caa26c_r_1586", "success": true, "p_success": 0.63, "reason": "The descending approach reaches a bottle body within the jaws, with some uncertainty from nearby loose bottles."} -{"id": "s0017_3e3ef71b_l_963", "success": false, "p_success": 0.4, "reason": "The hanging sock remains above the jaw tips and the upward close may catch only its narrow loose edge."} -{"id": "s0018_9fb361dd_l_1215", "success": true, "p_success": 0.53, "reason": "The approach aims toward the suspended sock but the long lateral motion makes the final fabric engagement uncertain."} -{"id": "s0019_02801c08_r_1715", "success": true, "p_success": 0.9, "reason": "The public worked example identifies a centered clip that the rising close securely clamps."} -{"id": "s0020_4b894d76_l_144", "success": true, "p_success": 0.61, "reason": "The planned descent reaches the bouquet near its bundled stems, offering a plausible narrow grasp despite the wrapping."} -{"id": "s0021_4162fb80_l_1197", "success": true, "p_success": 0.67, "reason": "The shoe upper is presented between the jaws and the small final translation should permit a firm pinch."} -{"id": "s0022_6097ea6d_r_2209", "success": false, "p_success": 0.38, "reason": "The round fruit sits ahead of the jaw tips and the short upward partial close risks shallow contact."} -{"id": "s0023_9d438abd_r_2695", "success": false, "p_success": 0.46, "reason": "The bag edge is close to the jaws but the view does not show a strap or fold seated deeply enough for a reliable grip."} -{"id": "s0024_def1f3a4_r_2411", "success": false, "p_success": 0.43, "reason": "The long curved descent passes the luggage edge without a clearly aligned handle in the acting jaw gap."} -{"id": "s0025_639efba9_l_60", "success": true, "p_success": 0.64, "reason": "The forward approach follows the hanging sock and can bring its lower fabric section into the closing jaws."} -{"id": "s0026_a0479839_l_505", "success": false, "p_success": 0.36, "reason": "The gripper starts over the bin and sweeps toward its rim with no clearly isolated bottle body in the jaw opening."} -{"id": "s0027_fc205ec5_r_1500", "success": true, "p_success": 0.6, "reason": "The planned descent reaches the food in the tray and should place a piece between the jaws before closure."} -{"id": "s0028_56cdadbf_l_2087", "success": false, "p_success": 0.37, "reason": "The shirt edge is ahead of the jaws and the large downward motion risks pushing it flat instead of enclosing a fold."} -{"id": "s0029_341d314b_l_2190", "success": true, "p_success": 0.62, "reason": "The shirt corner crosses the jaw opening and the modest downward close can pinch the fabric."} -{"id": "s0030_ef2e66d3_r_266", "success": true, "p_success": 0.58, "reason": "The approach descends toward the visible bottle cluster with sufficient opening to surround a bottle body."} -{"id": "s0031_0ae9b29a_l_93", "success": false, "p_success": 0.36, "reason": "The acting jaws face the rack framework below the bowls and the rising close risks clamping a wire or missing the rim."} -{"id": "s0032_b1279677_r_2138", "success": false, "p_success": 0.4, "reason": "The shirt edge is offset above the jaw gap and may slide away during the downward close."} -{"id": "s0033_eb01da60_r_297", "success": true, "p_success": 0.54, "reason": "The planned sweep returns toward the loose blocks, but the final block alignment is only weakly constrained by the current view."} -{"id": "s0034_1bc8e710_r_1233", "success": false, "p_success": 0.42, "reason": "The upright bottle remains ahead of the open jaws and the small upward motion may leave the close too shallow."} -{"id": "s0035_535f2e48_l_1232", "success": true, "p_success": 0.61, "reason": "The black bag edge is visible across the gripper approach and the closing sweep can gather a fold."} -{"id": "s0036_77729cd0_l_1081", "success": true, "p_success": 0.62, "reason": "The sock edge extends across the approaching jaws and the downward close can capture the fabric below the hanger."} -{"id": "s0037_5f3931f7_r_77", "success": false, "p_success": 0.43, "reason": "The flat card remains on the table ahead of the gripper and the approach may not get a jaw beneath its edge."} -{"id": "s0038_5194b865_r_3505", "success": true, "p_success": 0.67, "reason": "The pen shaft is presented near the center of the jaw gap and the short closing motion should clamp it."} -{"id": "s0039_74f311ab_l_1380", "success": false, "p_success": 0.46, "reason": "The jaws approach the box and package edge together, making an isolated secure pickup uncertain."} -{"id": "s0040_c1ae0126_r_136", "success": true, "p_success": 0.61, "reason": "A bunched shirt section lies in the closing path and provides more material to pinch than a flat edge."} -{"id": "s0041_fce1b18b_l_120", "success": true, "p_success": 0.57, "reason": "The trouser fold is near the jaws and the lateral approach can gather it, although the long sweep could drag the fabric."} -{"id": "s0042_eab39ed1_r_286", "success": false, "p_success": 0.39, "reason": "The thin sheet is poorly seated in the acting jaw gap and the upward lateral close risks sliding past its edge."} -{"id": "s0043_59bd8f7c_r_2238", "success": true, "p_success": 0.63, "reason": "The jaws are positioned beneath the sock and clip area, and the small upward close offers a plausible pinch."} -{"id": "s0044_80e9d4f2_r_1085", "success": false, "p_success": 0.42, "reason": "The jaws approach the soft hat crown near the basket without a clearly isolated stiff brim."} -{"id": "s0045_857c5cd3_l_4161", "success": true, "p_success": 0.59, "reason": "The shirt edge lies across the jaw opening and the nearly stationary close can retain a fold."} -{"id": "s0046_4457a343_r_491", "success": true, "p_success": 0.53, "reason": "The approach moves toward the loose bottles, but clutter and the partial closure leave the final contact uncertain."} -{"id": "s0047_e2706a7a_r_831", "success": true, "p_success": 0.6, "reason": "The descending lateral approach targets a separated block with accessible opposing sides."} -{"id": "s0048_851c71e4_l_3264", "success": false, "p_success": 0.39, "reason": "The bottle is offset toward one jaw and the upward partial close may fail to surround its body."} -{"id": "s0049_df25bf3b_l_1955", "success": false, "p_success": 0.45, "reason": "The large lateral path moves away from the currently visible filter and its thin edge may not remain aligned at closure."} -{"id": "s0050_a43f2ed7_r_180", "success": true, "p_success": 0.57, "reason": "The descent reaches the cookie tray with room for the jaws to surround a cookie, though nearby pieces could interfere."} -{"id": "s0051_0c28c098_r_406", "success": false, "p_success": 0.42, "reason": "The downward approach is crowded by the dripper and the opposing gripper, with no clear isolated filter edge."} -{"id": "s0052_2b47bdf1_l_43", "success": true, "p_success": 0.65, "reason": "The pasta package extends into the jaw opening and the forward descent can clamp its narrow middle."} -{"id": "s0053_7fe08c80_r_1177", "success": true, "p_success": 0.54, "reason": "The planned descent returns from the shelf toward the floor shoes, but the long motion leaves the exact heel contact uncertain."} -{"id": "s0054_4ab71f4f_l_1955", "success": false, "p_success": 0.48, "reason": "The descent targets the phone area, but the flat adjacent phones and partial close make edge capture uncertain."} -{"id": "s0055_e01b6a85_r_858", "success": true, "p_success": 0.63, "reason": "The forward descent aligns the jaws with the isolated yellow block and offers opposing faces to clamp."} -{"id": "s0056_773f0a91_r_366", "success": true, "p_success": 0.57, "reason": "The bag edge lies near the closing path and could be pinched, although the upward motion may reduce purchase."} -{"id": "s0057_3c8d02d9_r_1525", "success": false, "p_success": 0.35, "reason": "The jaws face a broad smooth pillow surface and close quickly without a distinct fold seated between them."} -{"id": "s0058_76d3a792_r_3251", "success": true, "p_success": 0.65, "reason": "The small case handle is close to the jaw opening and the modest approach should allow a firm handle grasp."} -{"id": "s0059_5cc31652_r_1884", "success": false, "p_success": 0.32, "reason": "The rising lateral close moves above the visible dish surface with no rim clearly enclosed by the acting jaws."} -{"id": "s0060_4e3753ec_r_1761", "success": true, "p_success": 0.62, "reason": "The upright phone or case edge is presented between the grippers and the short forward close can clamp it."} -{"id": "s0061_8163928a_l_102", "success": false, "p_success": 0.48, "reason": "The transparent bag lip is near the tips, but its thin edge may slide out during the curved closing motion."} -{"id": "s0062_cdb591e1_l_2315", "success": true, "p_success": 0.61, "reason": "The approach descends toward a can with accessible sides and a final gap consistent with grasping its body."} -{"id": "s0063_fad08c73_r_915", "success": true, "p_success": 0.7, "reason": "The square plate rim is seated between the jaws and the small closing motion should maintain that purchase."} -{"id": "s0064_efac528c_l_2781", "success": false, "p_success": 0.43, "reason": "The filter is stretched between the arms but the acting jaws close only partway on a thin unsupported edge."} -{"id": "s0065_087a6033_r_232", "success": true, "p_success": 0.58, "reason": "The lateral descent brings the gripper toward an exposed plate edge, though final rim depth remains uncertain."} -{"id": "s0066_67363e39_r_1449", "success": false, "p_success": 0.47, "reason": "The planned sweep approaches the stationery but the thin pen is not yet centered in the acting jaws."} -{"id": "s0067_ab243717_r_37", "success": true, "p_success": 0.67, "reason": "A large trouser fold already fills the jaw opening and can be retained as the gripper rises and closes."} -{"id": "s0068_1bc08f3a_l_2899", "success": false, "p_success": 0.38, "reason": "The phone is supported by the other arm while the acting jaws remain offset from its upper edge."} -{"id": "s0069_574e02cc_l_43", "success": false, "p_success": 0.45, "reason": "The long descent reaches a flat card on the table, where getting beneath the thin edge is uncertain."} -{"id": "s0070_cf5dbbb2_l_773", "success": true, "p_success": 0.62, "reason": "The pillowcase lip is accessible around the exposed pillow and the lateral close can pinch that loose fabric."} -{"id": "s0071_9eb3d579_r_1805", "success": true, "p_success": 0.56, "reason": "The small case is presented near the acting jaws, but the opposing gripper and small target leave limited alignment tolerance."} -{"id": "s0072_7ddfc430_l_45", "success": false, "p_success": 0.44, "reason": "The bowl rim sits to one side of the acting jaws and the upward close may leave insufficient rim engagement."} -{"id": "s0073_d2d2b900_r_314", "success": false, "p_success": 0.47, "reason": "The orange is ahead of the jaw tips and the lateral motion risks nudging the round object instead of enclosing it."} -{"id": "s0074_d9e88f2b_r_2888", "success": false, "p_success": 0.34, "reason": "The long backward closing path moves away from the shirt edge visible above the jaws."} -{"id": "s0075_da30fafe_r_3289", "success": true, "p_success": 0.53, "reason": "The curved approach returns toward the shoes on the table, but the final shoe-edge alignment is uncertain."} -{"id": "s0076_a148394d_l_202", "success": true, "p_success": 0.51, "reason": "The descent reaches the cup area beside the coasters, although the handle is not yet visible within the jaws."} -{"id": "s0077_d639ed25_l_861", "success": false, "p_success": 0.48, "reason": "The approach enters the rack toward a cup, but the wires obscure whether a rim can be isolated."} -{"id": "s0078_d8a035dc_r_3907", "success": true, "p_success": 0.56, "reason": "The forward approach reaches the exposed bowl rim on the rack with a plausible clearance for a pinch."} -{"id": "s0079_0edfb730_l_145", "success": false, "p_success": 0.44, "reason": "The lateral descent aims at a thin transparent bag edge whose final placement between the jaws is uncertain."} -{"id": "s0080_1fb60128_l_2836", "success": true, "p_success": 0.64, "reason": "The napkin corner is presented across the jaw opening and the small forward close should capture it."} -{"id": "s0081_cac4e017_r_1928", "success": true, "p_success": 0.64, "reason": "The sneaker heel is close to the jaw opening and the short forward close should pinch the upper."} -{"id": "s0082_639efba9_l_1032", "success": true, "p_success": 0.53, "reason": "The rising lateral approach reaches the hanging socks, but the clip is not yet visible within the acting jaws."} -{"id": "s0083_a487c045_r_1576", "success": true, "p_success": 0.57, "reason": "The laundry-bag edge is accessible and the lateral motion could gather a fold, though the enclosed garment is not isolated."} -{"id": "s0084_6e11d932_l_2128", "success": true, "p_success": 0.68, "reason": "The structured hat brim lies between the jaw tips and the nearly stationary close should hold it."} -{"id": "s0085_536ca306_l_3929", "success": false, "p_success": 0.39, "reason": "The narrow straw bundle is ahead of the gripper and the substantial rise risks closing below or beside it."} -{"id": "s0086_a6032fb9_r_1302", "success": true, "p_success": 0.58, "reason": "The white shirt edge is near the closing jaws and the modest downward motion can pinch a fold."} -{"id": "s0087_536ca306_r_2206", "success": true, "p_success": 0.62, "reason": "The cardboard carrier edge is presented in the jaw gap and can be clamped during the short lateral approach."} -{"id": "s0088_ffcbdb4a_l_579", "success": false, "p_success": 0.46, "reason": "The descent enters a crowded canvas bag and the wide final gap may catch fabric or neighboring bottles instead of securing one."} -{"id": "s0089_d0dea976_l_1743", "success": false, "p_success": 0.42, "reason": "The rapid diagonal descent reaches scattered small stationery with limited time to center an individual object."} -{"id": "s0090_201ea8d5_r_1955", "success": true, "p_success": 0.58, "reason": "The glass stem and rim are near the closing gap and the small translation offers a plausible grasp despite nearby rack hooks."} -{"id": "s0091_31be0bf8_r_1054", "success": true, "p_success": 0.54, "reason": "The bottle body is ahead of the jaws and the modest close may secure it, though contact depth is unclear."} -{"id": "s0092_eb50ba30_l_506", "success": false, "p_success": 0.4, "reason": "The narrow paper edge is nearly parallel to the jaws and may escape during the downward lateral close."} -{"id": "s0093_73992664_r_1084", "success": true, "p_success": 0.61, "reason": "The descending approach targets an exposed red block with space around its sides."} -{"id": "s0094_a921b7fb_l_259", "success": true, "p_success": 0.54, "reason": "The lateral descent reaches the bottle cluster, but neighboring bottles could deflect the target during closure."} -{"id": "s0095_6c74b0e5_l_514", "success": true, "p_success": 0.59, "reason": "The sock hangs close to the jaw opening and the approach can pinch its fabric below the clips."} -{"id": "s0096_151d19a1_l_42", "success": false, "p_success": 0.43, "reason": "The shoe heel is offset from the acting jaw center and the short approach may catch only a shallow upper edge."} -{"id": "s0097_e1e09885_r_778", "success": true, "p_success": 0.57, "reason": "The planned descent reaches the trouser fabric with a plausible pinch point, though its flat placement makes purchase uncertain."} -{"id": "s0098_0a4f3280_l_1543", "success": false, "p_success": 0.45, "reason": "The broad bouquet wrapper obscures the stems and the quick close may catch loose paper rather than the bundle."} -{"id": "s0099_06c2a6a4_l_225", "success": true, "p_success": 0.58, "reason": "The book edge enters the jaw opening and the short descent can establish opposing contact along its thickness."} -{"id": "s0100_e1b618d9_r_4279", "success": false, "p_success": 0.39, "reason": "The acting gripper is close to the stand hardware rather than clearly around the microphone body."} -{"id": "s0101_5b75d3bc_l_1974", "success": false, "p_success": 0.37, "reason": "The large downward motion carries the jaws below the visible flowers, with uncertain contact on the stems rather than the vase."} -{"id": "s0102_4791bf12_r_559", "success": true, "p_success": 0.51, "reason": "The lateral approach reaches the clear cups, but their transparent rims make final jaw placement uncertain."} -{"id": "s0103_35538f49_r_82", "success": false, "p_success": 0.42, "reason": "The path leaves the current food area and ends without a clearly visible object enclosed by the partial close."} -{"id": "s0104_3657d861_l_835", "success": false, "p_success": 0.4, "reason": "The jaws face plastic sleeves rather than an isolated card and may pinch the holder instead of extracting the card."} -{"id": "s0105_a487c045_r_1417", "success": true, "p_success": 0.63, "reason": "The garment or bag edge is already close to the jaws and the nearly stationary close should capture a fold."} -{"id": "s0106_2224bb63_l_1159", "success": false, "p_success": 0.46, "reason": "The long approach targets a small brooch on the garment, requiring finer alignment than the current view establishes."} -{"id": "s0107_b73b8b9a_r_1487", "success": true, "p_success": 0.67, "reason": "The plate rim is accessible beside the rack and the short forward descent should bring it between the jaws."} -{"id": "s0108_d1a409ed_l_981", "success": true, "p_success": 0.58, "reason": "The filter edge is presented by the other gripper and the forward close can pinch the exposed paper."} -{"id": "s0109_211e151e_r_868", "success": false, "p_success": 0.43, "reason": "The lateral rise heads toward the counter while the acting jaws do not yet surround a visible can."} -{"id": "s0110_ed9685d6_r_3245", "success": true, "p_success": 0.72, "reason": "The stand tube is centered between the jaws and the short close should clamp the narrow rigid shaft."} -{"id": "s0111_a0fd5537_l_2471", "success": true, "p_success": 0.6, "reason": "The upright photo edge passes through the jaw opening and the rising close can retain it."} -{"id": "s0112_144a9b9a_r_825", "success": true, "p_success": 0.9, "reason": "The public worked example identifies a planned close that securely clamps the exposed blue plate rim."} -{"id": "s0113_6e11d932_l_4669", "success": true, "p_success": 0.61, "reason": "The stitched brim lies across the jaw opening and offers a firmer pinch point than the crown."} -{"id": "s0114_cac4e017_l_2724", "success": false, "p_success": 0.42, "reason": "The approach reaches the shoe area but the wide final gap and nearby opposing arm make secure upper contact uncertain."} -{"id": "s0115_19a97324_l_4405", "success": false, "p_success": 0.43, "reason": "The large descending sweep follows the bag surface, but the partial closure may not firmly pinch a handle or fold."} -{"id": "s0116_1bceaa4a_l_782", "success": true, "p_success": 0.68, "reason": "The white plug body is presented between the jaws and the small closing displacement should retain it."} -{"id": "s0117_6fd26635_l_898", "success": false, "p_success": 0.34, "reason": "The long lateral path ends near the container while the visible tools remain away from the acting jaw gap."} -{"id": "s0118_d7e22fa3_r_1827", "success": true, "p_success": 0.61, "reason": "The folded napkin edge is presented near the jaws and the modest forward descent can secure a fold."} -{"id": "s0119_291e3ce8_l_3063", "success": true, "p_success": 0.64, "reason": "The shirt fabric extends into the jaw opening and a short downward close should retain it."} -{"id": "s0120_06c2a6a4_r_2323", "success": true, "p_success": 0.73, "reason": "The upright book is deeply seated between the jaws with broad opposing surfaces for a firm clamp."} -{"id": "s0121_13fa6f16_r_660", "success": true, "p_success": 0.66, "reason": "The slender utensil shafts are aligned in the jaw gap and the short close should hold them."} -{"id": "s0122_adf63b5a_r_2768", "success": false, "p_success": 0.43, "reason": "The rapid forward descent follows a moving towel edge and may close before a stable fold is seated."} -{"id": "s0123_de975454_r_3029", "success": false, "p_success": 0.41, "reason": "The snack packet sits above the jaw tips and the nearly stationary close may pinch the paper bag instead."} -{"id": "s0124_28b36a8a_r_1809", "success": false, "p_success": 0.35, "reason": "The descending path is over the empty lid area rather than clearly aligned with a chocolate piece."} -{"id": "s0125_4b2c8d30_l_853", "success": true, "p_success": 0.59, "reason": "The downward approach reaches the hanging sock below the rack and offers an accessible fabric pinch."} -{"id": "s0126_e1b618d9_l_5844", "success": false, "p_success": 0.36, "reason": "The jaws are crowded by the stand clamp and shaft while the microphone body is above the apparent grasp point."} -{"id": "s0127_eba3e1c6_r_1128", "success": true, "p_success": 0.61, "reason": "The shirt sleeve hangs into the closing region and the lateral approach can capture a substantial fold."} -{"id": "s0128_10c9120d_l_732", "success": true, "p_success": 0.69, "reason": "The rigid hanger bar is clearly between the jaws and the short closing motion should secure it."} -{"id": "s0129_4a24f295_l_1198", "success": true, "p_success": 0.55, "reason": "The box flap edge is near the jaw tips and could be pinched, though the nearby tool reduces clearance."} -{"id": "s0130_0b4d2400_l_2686", "success": true, "p_success": 0.54, "reason": "The bag film spans the jaw opening and can be pinched, but grasping the intended contents rather than the bag remains uncertain."} -{"id": "s0131_6c74b0e5_l_160", "success": true, "p_success": 0.66, "reason": "The hanging sock is centered near the jaw tips and the small closing motion can retain its fabric."} -{"id": "s0132_ffcbdb4a_l_2316", "success": true, "p_success": 0.62, "reason": "The descent reaches the relatively isolated bottle in the open bag with room to grasp its neck or body."} -{"id": "s0133_cb2f214a_l_1219", "success": true, "p_success": 0.69, "reason": "A thick folded garment section fills the jaw gap and the short descent should secure it."} -{"id": "s0134_de247e0f_r_1642", "success": false, "p_success": 0.44, "reason": "The approach is crowded by the paper bag and cup carrier, obscuring a clean grasp of the intended item."} -{"id": "s0135_670c7cfd_l_2452", "success": true, "p_success": 0.61, "reason": "The descent approaches the shoe heel with open jaws positioned to pinch the upper."} -{"id": "s0136_b8480635_r_161", "success": false, "p_success": 0.37, "reason": "The long lateral sweep leaves the visible card holder and the wide final gap is poorly suited to a thin card edge."} -{"id": "s0137_f21a27ed_l_4013", "success": true, "p_success": 0.59, "reason": "The small charging case is presented near the jaw center and the nearly stationary close can capture its body."} -{"id": "s0138_ed9685d6_r_2506", "success": false, "p_success": 0.43, "reason": "The jaws face the sheet and stand together, risking contact with the support instead of isolating the intended prop."} -{"id": "s0139_4162fb80_l_2996", "success": true, "p_success": 0.62, "reason": "The forward descent follows an accessible shoe opening and should allow a pinch on its upper edge."} -{"id": "s0140_fad08c73_l_1451", "success": true, "p_success": 0.67, "reason": "The upright plate rim is close to the jaw opening and the short close can clamp it with little disturbance."} -{"id": "s0141_dde505d5_r_52", "success": false, "p_success": 0.31, "reason": "The quick descending close begins over the containers and leaves a wide gap without a block clearly between the jaws."} -{"id": "s0142_80e9d4f2_r_887", "success": true, "p_success": 0.54, "reason": "The approach descends toward the hat brim, but the crown and layered fabric make the final purchase uncertain."} -{"id": "s0143_c5902b4f_r_1682", "success": true, "p_success": 0.56, "reason": "The descent reaches the hanging shirt with material available to pinch, though neighboring hangers may interfere."} -{"id": "s0144_f2d7ca7c_l_1344", "success": true, "p_success": 0.63, "reason": "The phone edge is presented between the arms and the closing path can establish opposing contact along it."} -{"id": "s0145_8ab53d08_r_563", "success": false, "p_success": 0.42, "reason": "The phone remains above the jaw tips and the rising close may catch only its shallow lower edge."} -{"id": "s0146_de93f8bb_r_333", "success": true, "p_success": 0.6, "reason": "The zipper strip and bag edge cross the jaw gap and the descending close can clamp that reinforced lip."} -{"id": "s0147_6a133e07_r_1809", "success": true, "p_success": 0.61, "reason": "The cardboard carrier wall is seated near the jaw tips and the modest rising close can retain its edge."} -{"id": "s0148_17e585e7_r_5114", "success": true, "p_success": 0.67, "reason": "The folded paper plane has an exposed central ridge that the descending jaws can pinch."} -{"id": "s0149_7e7b0cb8_l_1588", "success": false, "p_success": 0.48, "reason": "The approach crosses a crowded bowl-and-cup arrangement and may contact more than the intended rim."} -{"id": "s0150_de93f8bb_r_3323", "success": false, "p_success": 0.38, "reason": "The backward sweep moves away from the centered apple before the jaws finish closing."} -{"id": "s0151_3c8d02d9_r_56", "success": true, "p_success": 0.65, "reason": "The pillowcase is bunched between the grippers and the closing motion can secure a substantial fabric fold."} -{"id": "s0152_535f2e48_l_1556", "success": false, "p_success": 0.46, "reason": "The long lateral rise reaches across the loose bag, but the final closure lacks a clearly stable film pinch."} -{"id": "s0153_28d21458_l_1731", "success": false, "p_success": 0.1, "reason": "The public worked example identifies an insecure partial close on the fabric and hanger near the top of the reach."} -{"id": "s0154_df25bf3b_l_2272", "success": false, "p_success": 0.4, "reason": "The acting jaws approach the dripper without a clearly isolated filter edge and may close on the rim or empty space."} -{"id": "s0155_e55cc103_r_3020", "success": true, "p_success": 0.72, "reason": "The paper plane central fold is visibly seated between the jaws and the closing motion should retain it."} -{"id": "s0156_58641195_r_3330", "success": true, "p_success": 0.56, "reason": "The closing sweep follows the bag edge and may gather a fold, though the dark material obscures contact depth."} -{"id": "s0157_3e6588d1_r_625", "success": true, "p_success": 0.64, "reason": "The shoe upper is accessible in front of the jaws and the forward lateral approach can position it for a firm pinch."} -{"id": "s0158_3e3ef71b_r_515", "success": true, "p_success": 0.55, "reason": "The forward rise reaches the hanging sock, but the rack and other gripper constrain clearance near the clip."} -{"id": "s0159_9ee38324_r_396", "success": false, "p_success": 0.35, "reason": "The acting jaws face empty tabletop and the planned endpoint does not clearly enclose the bowl held by the other arm."} -{"id": "s0160_b979041a_l_954", "success": false, "p_success": 0.43, "reason": "The cup is tilted between closely spaced grippers and the approach may catch only the lid edge rather than its body."} -{"id": "s0161_d8a035dc_l_3871", "success": false, "p_success": 0.44, "reason": "The bowl is ahead of the jaw tips and the short upward close may miss its exposed rim."} -{"id": "s0162_8571cadc_r_3053", "success": false, "p_success": 0.35, "reason": "The rack rod occupies the acting jaw opening while the glass hangs off to the side."} -{"id": "s0163_f393f277_l_1704", "success": false, "p_success": 0.34, "reason": "The final commanded opening remains wide for a slender utensil and no handle is centered in the acting jaws."} -{"id": "s0164_6c74b0e5_l_3213", "success": true, "p_success": 0.6, "reason": "The sock cuff is close to the jaw tips and the short approach can pinch it below the clip."} -{"id": "s0165_670c7cfd_l_2750", "success": false, "p_success": 0.43, "reason": "The shoe is above and ahead of the jaw tips and the rising partial close risks shallow contact."} -{"id": "s0166_ab243717_l_486", "success": true, "p_success": 0.66, "reason": "The trouser fold spans the jaw opening and the short downward close should capture enough fabric."} -{"id": "s0167_44f10ba9_r_2568", "success": false, "p_success": 0.4, "reason": "The plate edge is crowded against the plastic rack and the jaw path may hit the support before enclosing the rim."} -{"id": "s0168_da3c148e_l_1306", "success": false, "p_success": 0.38, "reason": "The acting jaws approach the stand hardware with the phone edge obscured by the opposing gripper."} -{"id": "s0169_1c759f54_l_1145", "success": false, "p_success": 0.47, "reason": "The rising lateral sweep crosses a loose bottle cluster, leaving uncertain whether a bottle is captured before being displaced."} -{"id": "s0170_639efba9_l_2444", "success": false, "p_success": 0.41, "reason": "The hanger frame dominates the jaw opening and the sock clip is only shallowly aligned at the tips."} -{"id": "s0171_3e3ef71b_r_212", "success": true, "p_success": 0.57, "reason": "The forward approach reaches the suspended sock and clip area, although the hanger frame limits clearance."} -{"id": "s0172_02801c08_r_2217", "success": true, "p_success": 0.6, "reason": "The narrow clip or fabric edge lies near the centerline and the small downward close can retain it."} -{"id": "s0173_3cc152a2_l_2139", "success": true, "p_success": 0.58, "reason": "The flower stems lie along the approaching jaws and could be clamped below the blossoms despite nearby vase contact."} -{"id": "s0174_f26fd9fb_r_2206", "success": false, "p_success": 0.45, "reason": "The bag film covers the approaching jaws and may be caught before the intended fruit is securely enclosed."} -{"id": "s0175_4e0da4f2_r_1338", "success": false, "p_success": 0.47, "reason": "The gripper approaches the bag mouth obliquely and the intended item is not clearly isolated from the fabric edge."} -{"id": "s0176_f904c81f_r_290", "success": false, "p_success": 0.33, "reason": "The long forward sweep ends beyond the visible objects without a clear item seated between the jaws."} -{"id": "s0177_9fb361dd_l_193", "success": true, "p_success": 0.62, "reason": "The sock and clip are close to the jaw opening and the small upward close offers a plausible secure pinch."} -{"id": "s0178_def1f3a4_l_3806", "success": false, "p_success": 0.44, "reason": "The large lateral descent reaches the suitcase edge with no handle clearly centered in the partially closing jaws."} -{"id": "s0179_a921b7fb_r_2469", "success": true, "p_success": 0.59, "reason": "The bottle body spans the jaw region and the descending close can establish contact, though the bin is crowded."} -{"id": "s0180_2b721695_r_2425", "success": false, "p_success": 0.45, "reason": "The jaws approach the bag edge beside the basket while the intended food remains obscured by plastic."} -{"id": "s0181_c414104e_l_457", "success": true, "p_success": 0.61, "reason": "The black shirt corner lies across the closing jaw region and the short forward motion can capture it."} -{"id": "s0182_f200079e_l_2586", "success": true, "p_success": 0.68, "reason": "A bunched section of shirt is presented between the jaws and the descent should establish a substantial pinch."} -{"id": "s0183_8e282731_l_2431", "success": true, "p_success": 0.67, "reason": "The bottle body is centered between the open jaws and the small displacement should preserve alignment during closure."} -{"id": "s0184_d8a035dc_l_237", "success": false, "p_success": 0.47, "reason": "The diagonal descent passes beneath the rack toward a bowl, but the other gripper and rack legs obscure clean rim access."} -{"id": "s0185_9f523d1d_l_1804", "success": true, "p_success": 0.58, "reason": "The approach follows a raised shirt fold that can enter the jaws, though the longer path may drag it."} -{"id": "s0186_2e1d34ec_r_836", "success": true, "p_success": 0.54, "reason": "The descent reaches graspable blocks, but overlapping pieces leave the target and opposing contacts uncertain."} -{"id": "s0187_9a8ca9d4_r_551", "success": false, "p_success": 0.45, "reason": "The long lateral sweep moves from the bin toward the other arm with uncertain capture of a single bottle."} -{"id": "s0188_02801c08_l_1522", "success": true, "p_success": 0.63, "reason": "The narrow clip is presented close to the jaw center and the modest closing motion should retain it."} -{"id": "s0189_0bc1bd7e_r_377", "success": true, "p_success": 0.52, "reason": "The bag film reaches the closing region, but the upward motion may pull the jaws away before a deep fold is secured."} -{"id": "s0190_cfe85fb7_l_487", "success": true, "p_success": 0.58, "reason": "The sock hangs near the approaching jaws and the modest forward close can pinch its fabric below the clip."} -{"id": "s0191_fe0cd63d_r_1390", "success": false, "p_success": 0.41, "reason": "The card remains inside a plastic sleeve and the close may grasp the sleeve rather than the card itself."} -{"id": "s0192_92af51ef_l_5195", "success": true, "p_success": 0.61, "reason": "The pen is presented near the jaw centerline and the small upward close offers a plausible shaft grasp."} -{"id": "s0193_d3a650ba_l_4788", "success": false, "p_success": 0.39, "reason": "The jaws face the box wall while the small contents remain deeper inside, risking a flap grasp rather than a pickup."} -{"id": "s0194_84fe68d9_r_1345", "success": false, "p_success": 0.44, "reason": "The lateral closing motion follows a shallow shirt edge that may slide away from the jaw tips."} -{"id": "s0195_0f98afa3_l_633", "success": true, "p_success": 0.59, "reason": "The trouser cuff lies close to the jaws and the nearly stationary close can retain its hem."} -{"id": "s0196_eb50ba30_l_4210", "success": true, "p_success": 0.62, "reason": "The narrow cylindrical item is presented along the jaw centerline and can be clamped during the short close."} -{"id": "s0197_7d96f1e1_r_55", "success": true, "p_success": 0.57, "reason": "The forward approach reaches a sock fold near the tray edge with a plausible fabric pinch point."} -{"id": "s0198_1369e8ef_r_1417", "success": false, "p_success": 0.35, "reason": "The jaws face the soft cap crown and rise substantially while only partially closing, risking a shallow fabric pinch."} -{"id": "s0199_a39aeb5c_r_5527", "success": true, "p_success": 0.56, "reason": "The forward descent reaches the shirt edge and may gather fabric, although the rapid motion reduces alignment margin."} -{"id": "s0200_0f4ed64f_r_318", "success": true, "p_success": 0.6, "reason": "The descent targets a bottle body that is visible within the open jaw region, with some risk from neighboring bottles."} -{"id": "s0201_47d81e9a_l_853", "success": true, "p_success": 0.59, "reason": "A green block is positioned near the jaw gap and the short close can clamp its opposing sides."} -{"id": "s0202_1c759f54_l_166", "success": false, "p_success": 0.49, "reason": "The long curved approach crosses several loose bottles, leaving uncertain which body remains aligned at closure."} -{"id": "s0203_8be6027b_l_735", "success": true, "p_success": 0.62, "reason": "The filter edge is visibly presented near the jaws and the small downward close can pinch it against the opposing pad."} -{"id": "s0204_8875a33e_r_3917", "success": false, "p_success": 0.38, "reason": "The downward path reaches the box area without a cookie clearly seated in the acting jaw opening."} -{"id": "s0205_2b4e68b0_l_2026", "success": true, "p_success": 0.57, "reason": "The folded filter edge lies across the jaws and could be retained through the backward close, though the long translation may displace it."} -{"id": "s0206_03fe0bdc_r_48", "success": false, "p_success": 0.43, "reason": "The upward close starts beside overlapping pasta packages and may rise before a package is deeply enclosed."} -{"id": "s0207_3c253aa6_r_3527", "success": true, "p_success": 0.61, "reason": "The sneaker heel is aligned near the jaw gap and the nearly stationary close can pinch its upper."} -{"id": "s0208_1bc08f3a_r_1693", "success": true, "p_success": 0.63, "reason": "The upright phone edge is accessible between the arms and the closing approach can provide opposing contact."} -{"id": "s0209_8f375293_r_1102", "success": true, "p_success": 0.57, "reason": "The backward descent returns to separated blocks on the table with space to enclose one."} -{"id": "s0210_5a2a6fe4_l_1202", "success": true, "p_success": 0.55, "reason": "The packet edge reaches the jaw region and could be pinched, though the partial closure and shelf proximity reduce certainty."} -{"id": "s0211_bcf9b832_r_2033", "success": true, "p_success": 0.59, "reason": "The pillowcase lip is gathered between the arms and the close can capture a fold despite the curved approach."} -{"id": "s0212_f904c81f_r_1316", "success": false, "p_success": 0.41, "reason": "The jaws approach the suitcase interior without a clearly isolated object or fabric fold in the closing gap."} -{"id": "s0213_47175a6c_r_359", "success": true, "p_success": 0.64, "reason": "The exposed plate rim is near the acting jaw center and the short lateral close should clamp it."} -{"id": "s0214_243a8d2c_r_1386", "success": false, "p_success": 0.46, "reason": "The rising lateral approach starts above flat phones and does not yet establish a secure edge between the jaws."} -{"id": "s0215_a4aabe0d_r_1267", "success": true, "p_success": 0.52, "reason": "The apple is aligned ahead of the jaws, but the long rising approach leaves uncertainty about enclosing its rounded body."} -{"id": "s0216_d0e786a9_r_849", "success": false, "p_success": 0.44, "reason": "The bottle is offset ahead of the jaws near the shelf and the short partial close may not surround its body."} -{"id": "s0217_ec382b70_r_870", "success": false, "p_success": 0.39, "reason": "The jaw opening is aligned with rack wires rather than a clearly isolated plate rim."} -{"id": "s0218_6214e1ab_r_2424", "success": false, "p_success": 0.45, "reason": "The descending lateral approach reaches the dripper area, but the filter is not clearly presented between the acting jaws."} -{"id": "s0219_44f10ba9_l_4318", "success": true, "p_success": 0.62, "reason": "The exposed plate edge is close to the jaws and the planned close can establish opposing rim contact."} -{"id": "s0220_b730d58f_l_209", "success": false, "p_success": 0.4, "reason": "The small stationery item remains ahead of the tips and the partial stationary close may leave insufficient contact."} -{"id": "s0221_b03d8e78_l_1387", "success": true, "p_success": 0.65, "reason": "A raised trouser fold is near the jaw center and the short forward close can secure the fabric."} -{"id": "s0222_17f5f0f9_l_1069", "success": true, "p_success": 0.68, "reason": "The upright phone is deeply aligned with the jaw opening and should remain clamped during the upward close."} -{"id": "s0223_c40b5f48_r_1547", "success": true, "p_success": 0.57, "reason": "The exposed card edge is presented across the jaws, though the tray and neighboring cards reduce clearance."} -{"id": "s0224_91aacb56_r_2480", "success": true, "p_success": 0.64, "reason": "The pillowcase has a loose edge around the exposed pillow that the descending close can pinch."} -{"id": "s0225_0bc1bd7e_l_3209", "success": true, "p_success": 0.57, "reason": "The descent reaches the bin liner edge and the jaws can gather the exposed bag film."} -{"id": "s0226_54972992_r_2147", "success": true, "p_success": 0.61, "reason": "The small white case is presented between the grippers and the modest descent can seat it in the acting jaws."} -{"id": "s0227_7279b7ab_r_160", "success": false, "p_success": 0.49, "reason": "The long descent reaches the fruit area, but the moving view and round objects leave final enclosure uncertain."} -{"id": "s0228_857c5cd3_l_5884", "success": true, "p_success": 0.6, "reason": "The shirt corner lies near the jaw tips and the small downward close can pinch the hem."} -{"id": "s0229_cac4e017_l_935", "success": false, "p_success": 0.41, "reason": "The shoe toe is above the jaw opening and the upward partial close may catch only a shallow edge."} -{"id": "s0230_cf6801f7_r_1850", "success": true, "p_success": 0.53, "reason": "The cup is near the closing region, but its handle and the final grasp depth are not clearly visible."} -{"id": "s0231_fca86ed4_r_3389", "success": false, "p_success": 0.35, "reason": "The acting jaws face open tabletop while the visible cup is held by the other arm outside the closing gap."} -{"id": "s0232_d4e0aa21_l_2692", "success": false, "p_success": 0.4, "reason": "Rack wires cross the approach to the closely packed bowls and may block a clean rim grasp."} -{"id": "s0233_6b8ba92a_r_874", "success": true, "p_success": 0.6, "reason": "The descending jaws surround a fruit body in the basket, though the wide final gap and neighboring fruit reduce certainty."} -{"id": "s0234_b01721ec_r_6390", "success": true, "p_success": 0.67, "reason": "The folded napkin edge is supported by the other arm and lies directly in the acting jaw gap."} -{"id": "s0235_4162fb80_l_3356", "success": true, "p_success": 0.54, "reason": "The descending approach targets the shoe upper, but the curved path leaves final heel alignment uncertain."} -{"id": "s0236_6c74b0e5_r_2133", "success": true, "p_success": 0.63, "reason": "The sock and clip are presented near the jaws and the forward close can establish a firm pinch."} -{"id": "s0237_b2caf120_l_388", "success": true, "p_success": 0.56, "reason": "The laundry bag seam is exposed near the jaws and can be pinched, though the adjacent gripper may restrict access."} -{"id": "s0238_48fa5437_l_3038", "success": false, "p_success": 0.44, "reason": "The soft cap crown is ahead of the jaw tips without a clearly seated brim or deep fold."} -{"id": "s0239_38229317_l_2104", "success": true, "p_success": 0.51, "reason": "The lateral approach reaches the coffee packing area, but the cup to be grasped is not yet centered in the acting view."} -{"id": "s0240_a39aeb5c_r_2261", "success": false, "p_success": 0.28, "reason": "The planned sweep ends away from the visible shirt and the acting jaws currently face empty tabletop."} -{"id": "s0241_22bed84a_r_2708", "success": false, "p_success": 0.36, "reason": "The jaws are aligned with the canvas bag edge rather than a visible bottle body inside it."} -{"id": "s0242_b36a73f4_l_2987", "success": true, "p_success": 0.53, "reason": "The approach reaches a cylindrical stationery container presented by the other arm, but its offset position makes contact uncertain."} -{"id": "s0243_3d1b17df_l_2052", "success": true, "p_success": 0.58, "reason": "The glass stem is presented near the acting jaw opening and the lateral descent can clamp it clear of the rack."} -{"id": "s0244_a921b7fb_r_846", "success": true, "p_success": 0.6, "reason": "The blue-capped bottle body lies between the jaw approach lines and the short close can retain it despite clutter."} -{"id": "s0245_eab39ed1_r_1133", "success": true, "p_success": 0.59, "reason": "The paper edge is upright between the grippers and the small closing motion can pinch it."} -{"id": "s0246_d9be7ad1_l_667", "success": false, "p_success": 0.36, "reason": "The jaws face the organizer wall while the blocks remain off to the side of the partial closing gap."} -{"id": "s0247_e82239d4_r_233", "success": true, "p_success": 0.62, "reason": "The descent reaches the isolated bottle beside the bin with accessible opposing sides."} -{"id": "s0248_639efba9_r_160", "success": true, "p_success": 0.63, "reason": "The sock cuff and clip are within the approach corridor and the upward close can establish a firm pinch."} -{"id": "s0249_3c253aa6_r_2001", "success": false, "p_success": 0.47, "reason": "The shoe is close to the jaw tips but the shelf edge and adjacent shoe make the final contact shallow and uncertain."} -{"id": "s0250_0f98afa3_l_252", "success": true, "p_success": 0.57, "reason": "The trouser hem crosses the approaching jaws, though the forward rise could pull the edge out before full closure."} -{"id": "s0251_eeb33c46_l_181", "success": true, "p_success": 0.55, "reason": "The bouquet wrapper narrows near the tie where the jaws approach, offering a plausible grasp with some risk of catching only paper."} -{"id": "s0252_60f8e670_l_1517", "success": true, "p_success": 0.6, "reason": "The book edge is presented across the jaw opening and the short descent should clamp its thickness."} -{"id": "s0253_abae7512_l_1233", "success": true, "p_success": 0.56, "reason": "The microphone body is close to the jaws, but the stand clip may obstruct opposing contact during closure."} -{"id": "s0254_3cc152a2_l_381", "success": true, "p_success": 0.51, "reason": "The descending approach reaches the bouquet wrapper near its tie, though the stems are obscured by the other gripper."} -{"id": "s0255_fca86ed4_r_1170", "success": true, "p_success": 0.6, "reason": "The cup rim lies near the jaw tips and the backward close can pinch it clear of the nearby cloth."} -{"id": "s0256_0edfb730_l_2380", "success": false, "p_success": 0.37, "reason": "The large upward close begins above a crowded food tray without a clearly enclosed item at the jaw tips."} -{"id": "s0257_49817cbd_l_3817", "success": false, "p_success": 0.44, "reason": "The descent targets a thin card or sleeve lying flat, making access beneath its edge uncertain."} -{"id": "s0258_b7716484_r_1119", "success": true, "p_success": 0.59, "reason": "The laundry-bag seam is presented by the other arm and the short close can pinch the reinforced edge."} -{"id": "s0259_e26fa0af_l_3316", "success": true, "p_success": 0.64, "reason": "The small brooch is aligned between the grippers and the nearly stationary close can clamp its exposed body."} -{"id": "s0260_d27e35cd_l_1775", "success": true, "p_success": 0.52, "reason": "The approach reaches a plate rim in the rack, but adjacent plates and wires constrain the jaw clearance."} -{"id": "s0261_2b4e68b0_l_1877", "success": true, "p_success": 0.67, "reason": "The filter fold is clearly seated between the jaw tips and the short close should preserve that pinch."} -{"id": "s0262_28c8d41b_r_2416", "success": true, "p_success": 0.61, "reason": "The can body is centered at the jaw opening and the small rising close can establish broad opposing contact."} -{"id": "s0263_ed9685d6_l_3299", "success": true, "p_success": 0.69, "reason": "The rigid stand tube is centered between the jaws and the nearly stationary close should secure it."} -{"id": "s0264_b34dadd5_l_1282", "success": false, "p_success": 0.44, "reason": "The approach follows the frame edge but does not clearly isolate the thin photo from the frame or transparent insert."} -{"id": "s0265_ec382b70_l_1217", "success": false, "p_success": 0.36, "reason": "The acting jaws face the rack and opposing gripper with no plate rim visibly seated in their gap."} -{"id": "s0266_1369e8ef_l_58", "success": false, "p_success": 0.4, "reason": "The cap brim is ahead of the tips and the quick upward close may lift away before enclosing its edge."} -{"id": "s0267_8286919d_r_2417", "success": false, "p_success": 0.39, "reason": "The shelf board obstructs the shoe opening and the close risks pinching against the shelf instead of gripping the upper."} -{"id": "s0268_58641195_r_3565", "success": false, "p_success": 0.35, "reason": "The final commanded opening remains wide while the bag edge is only shallowly aligned with the jaws."} -{"id": "s0269_84d5a6ab_l_3726", "success": true, "p_success": 0.53, "reason": "The forward descent approaches a plug-sized object, though the nearby outlet block obscures precise contact."} -{"id": "s0270_bfb7dd87_r_64", "success": false, "p_success": 0.3, "reason": "The acting jaws face empty tabletop and the very short close does not reach the visible tools."} -{"id": "s0271_1ea74b8e_l_68", "success": true, "p_success": 0.59, "reason": "The napkin edge is close to the jaw tips and the nearly stationary close can capture a fold."} -{"id": "s0272_117a734e_l_1494", "success": true, "p_success": 0.55, "reason": "The downward lateral approach reaches the shirt hem, though its flat placement makes the final pinch uncertain."} -{"id": "s0273_fb64b434_r_3381", "success": true, "p_success": 0.64, "reason": "The upright book spine is seated in the jaw opening and offers broad opposing surfaces for a clamp."} -{"id": "s0274_cd143549_r_625", "success": true, "p_success": 0.57, "reason": "The utensil shafts are aligned with the jaws and the descending sweep can retain them while approaching the bread."} -{"id": "s0275_adf63b5a_r_40", "success": false, "p_success": 0.47, "reason": "The long curved motion reaches a towel in the basket, but the upward close may catch only a shallow edge."} -{"id": "s0276_f75d64df_l_805", "success": true, "p_success": 0.63, "reason": "The snack packet body is centered ahead of the jaws and the short forward close can compress and retain it."} -{"id": "s0277_d8698b57_l_231", "success": false, "p_success": 0.43, "reason": "The acting jaws are crowded by utensils and the other gripper without a chocolate clearly seated between the tips."} -{"id": "s0278_45e11483_r_3211", "success": true, "p_success": 0.65, "reason": "The plate rim is close to the jaw opening and the modest closing displacement should preserve a secure edge pinch."} -{"id": "s0279_77729cd0_l_992", "success": true, "p_success": 0.56, "reason": "The approach reaches the sock clip beneath the frame, although the opposing gripper limits the available clearance."} -{"id": "s0280_abae7512_l_258", "success": false, "p_success": 0.44, "reason": "The microphone remains offset ahead of the acting jaws and the stand hardware obscures secure body contact."} -{"id": "s0281_8a600716_r_1323", "success": true, "p_success": 0.61, "reason": "The shirt fold is presented between the grippers and the descending close can capture a substantial section."} -{"id": "s0282_e3df98e1_l_2036", "success": true, "p_success": 0.65, "reason": "The shirt edge and hanger are close to the jaws and the short close can retain the presented fabric fold."} -{"id": "s0283_b7462942_r_2908", "success": false, "p_success": 0.48, "reason": "The narrow cardboard edge is near the jaws, but the partial close may provide only shallow purchase on the box flap."} -{"id": "s0284_83544adb_r_1138", "success": true, "p_success": 0.55, "reason": "The open bag exposes the food near the closing region, though the clustered contents and film may interfere with a clean grasp."} -{"id": "s0285_13f93ec4_l_272", "success": false, "p_success": 0.35, "reason": "The hanger frame crosses the jaw opening and the wide partial close is unlikely to isolate the sock clip securely."} -{"id": "s0286_22bed84a_r_2251", "success": false, "p_success": 0.34, "reason": "The acting jaws remain outside the bag near its handle while the bottles are deeper inside."} -{"id": "s0287_76d3a792_r_2666", "success": true, "p_success": 0.68, "reason": "The thick folded towel is presented between the grippers and the small downward close should retain it."} -{"id": "s0288_38229317_r_3830", "success": true, "p_success": 0.58, "reason": "The paper bag lip spans the jaw opening and the forward close can pinch a fold near the handle."} -{"id": "s0289_d08765d0_l_113", "success": false, "p_success": 0.33, "reason": "The cabinet edge blocks the acting jaw view and the shoe is not clearly within the closing gap."} -{"id": "s0290_5e6d3b53_r_2308", "success": false, "p_success": 0.45, "reason": "The upward lateral approach faces several cards in a holder without a single exposed edge clearly isolated."} -{"id": "s0291_20a3acac_r_1784", "success": true, "p_success": 0.59, "reason": "The charging case is presented near the acting jaws and the lateral close can capture its body, though the other gripper crowds it."} -{"id": "s0292_ed9685d6_r_1590", "success": true, "p_success": 0.6, "reason": "The metronome body is close to the jaw opening and the small translation should allow opposing contact."} -{"id": "s0293_670c7cfd_l_4431", "success": true, "p_success": 0.5, "reason": "The forward rise approaches the shoe heel near the cabinet, with uncertain clearance beneath the shelf."} -{"id": "s0294_347bd73f_r_1361", "success": false, "p_success": 0.42, "reason": "The plate rim is crowded among neighboring plates and rack bars, making a clean isolated pinch uncertain."} -{"id": "s0295_c83bf764_l_787", "success": true, "p_success": 0.53, "reason": "The lateral approach reaches the loose blocks, but the final target is not yet centered in the acting jaws."} -{"id": "s0296_4841aa44_r_866", "success": false, "p_success": 0.1, "reason": "The public worked example identifies a shallow pinch on the soft cap crown that does not secure the hat."} -{"id": "s0297_e250e243_l_1782", "success": true, "p_success": 0.67, "reason": "The shirt fabric is bunched in the jaw opening and the short close should retain a substantial fold."} -{"id": "s0298_8ab53d08_r_433", "success": false, "p_success": 0.37, "reason": "The phone remains offset near the other gripper and the wide partial close may fail to establish opposing contact."} -{"id": "s0299_b81c90c9_r_646", "success": true, "p_success": 0.58, "reason": "The upright phone edge is near the acting jaws, but the quick upward motion may reduce the depth of contact."} -{"id": "s0300_bbd62cca_r_968", "success": false, "p_success": 0.44, "reason": "The long backward sweep moves away from the visible pear and leaves the final food grasp uncertain."} -{"id": "s0301_c898e489_l_1660", "success": true, "p_success": 0.64, "reason": "The cardboard carrier edge is presented between the jaws and the modest forward close can clamp it."} -{"id": "s0302_61757e14_r_3715", "success": true, "p_success": 0.68, "reason": "The paper plane central fold is clearly aligned with the jaw opening and the lateral descent can pinch it."} -{"id": "s0303_0de45c6a_r_904", "success": true, "p_success": 0.55, "reason": "The forward approach reaches the exposed cup area, though neighboring dishes make precise rim capture uncertain."} -{"id": "s0304_a860ce76_l_552", "success": true, "p_success": 0.61, "reason": "The reinforced zipper edge is presented near the jaw center and the forward close can secure that lip."} -{"id": "s0305_9db4e21e_r_5543", "success": true, "p_success": 0.59, "reason": "The downward lateral approach reaches a loose pillowcase edge that can be gathered into the jaws."} diff --git a/public/samples/s0000_e37154ab_r_1320/left_t-15.jpg b/public/samples/s0000_e37154ab_r_1320/left_t-15.jpg deleted file mode 100644 index 07352fe5959638ebdee9a50782589e1cf0028422..0000000000000000000000000000000000000000 Binary files a/public/samples/s0000_e37154ab_r_1320/left_t-15.jpg and /dev/null differ diff --git a/public/samples/s0000_e37154ab_r_1320/left_t-30.jpg b/public/samples/s0000_e37154ab_r_1320/left_t-30.jpg deleted file mode 100644 index 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e576a294631ea7b4d3543847d8569477f46299b6..0000000000000000000000000000000000000000 --- a/public/samples/s0000_e37154ab_r_1320/sample.json +++ /dev/null @@ -1,2154 +0,0 @@ -{ - "id": "s0000_e37154ab_r_1320", - "task": "put_the_trash_bags_into_the_trash_bin", - "side": "right", - "fps": 30, - "inputs": { - "history_frames": [ - 15, - 30 - ], - "files": { - "top_t": "top_t.jpg", - "left_t": "left_t.jpg", - "right_t": "right_t.jpg", - "top_t-15": "top_t-15.jpg", - "left_t-15": "left_t-15.jpg", - "right_t-15": "right_t-15.jpg", - "top_t-30": "top_t-30.jpg", - "left_t-30": "left_t-30.jpg", - "right_t-30": "right_t-30.jpg" - }, - "overlay": "overlay_t.jpg", - "horizon": 120, - "freeze_frame": 45, - "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on", - "actions": [ - [ - -0.28685, - 1.38518, - 1.37598, - 0.46174, - 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By the time the jaws shut, the gripper site has moved +2.3 cm forward, +0.1 cm to the robot's left and +7.6 cm up from where it is now (path length 14.7 cm); in the top camera that is -4 px right and -45 px down. Gripper command: now 0.73 open; starts closing at +1.07 s and is shut (0.01) at +1.50 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5615, - 0.057, - 1.1665 - ], - "grasp_site_now_uv": [ - 280.5, - 153.8 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5843, - 0.0581, - 1.2423 - ], - "grasp_site_at_shut_uv": [ - 277.0, - 108.4 - ], - "shut_in_top_view": true, - "close_onset_frame": 32, - "close_done_frame": 45, - "path_len_cm": 14.7, - "path_uv_every_3_frames": [ - [ - 295.2, - 125.3 - ], - [ - 300.6, - 116.0 - ], - [ - 294.3, - 111.6 - ], - [ - 287.0, - 111.4 - ], - [ - 284.1, - 108.9 - ], - [ - 281.5, - 108.1 - ], - [ - 275.5, - 110.6 - ], - [ - 269.4, - 114.9 - ], - [ - 263.4, - 120.7 - ], - [ - 262.0, - 116.8 - ], - [ - 262.8, - 112.7 - ], - [ - 265.1, - 110.9 - ], - [ - 271.4, - 103.6 - ], - [ - 275.0, - 101.9 - ], - [ - 276.5, - 104.5 - ], - [ - 277.0, - 108.4 - ], - [ - 277.0, - 108.4 - ], - [ - 277.0, - 108.4 - ], - [ - 277.0, - 108.4 - 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By the time the jaws shut, the gripper site has moved -2.4 cm forward, +1.2 cm to the robot's left and +2.0 cm up from where it is now (path length 7.4 cm); in the top camera that is -8 px right and +8 px down. Gripper command: now 0.67 open; starts closing at +0.10 s and is shut (0.00) at +0.90 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.3969, - 0.0052, - 1.1238 - ], - "grasp_site_now_uv": [ - 323.5, - 257.6 - ], - "grasp_site_at_shut_xyz_m": [ - 0.373, - 0.0173, - 1.1439 - ], - "grasp_site_at_shut_uv": [ - 315.0, - 265.6 - ], - "shut_in_top_view": true, - "close_onset_frame": 3, - "close_done_frame": 27, - "path_len_cm": 7.4, - "path_uv_every_3_frames": [ - [ - 336.3, - 247.2 - ], - [ - 339.3, - 253.0 - ], - [ - 339.1, - 258.2 - ], - [ - 339.3, - 259.8 - ], - [ - 335.2, - 262.2 - ], - [ - 328.5, - 263.3 - ], - [ - 323.8, - 261.8 - ], - [ - 320.2, - 261.8 - ], - [ - 316.9, - 262.6 - ], - [ - 315.0, - 265.6 - ], - [ - 315.0, - 265.6 - ], - [ - 315.0, - 265.6 - ], - [ - 315.0, - 265.6 - ], - [ - 315.0, - 265.6 - ], - [ - 315.0, - 265.6 - ], - [ - 315.0, - 265.6 - ], - [ - 315.0, - 265.6 - ], - [ - 315.0, - 265.6 - ], - [ - 315.0, - 265.6 - ], - 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"id": "s0002_574e02cc_r_1404", - "task": "put_the_credit_cards_into_the_card_holder", - "side": "right", - "fps": 30, - "inputs": { - "history_frames": [ - 15, - 30 - ], - "files": { - "top_t": "top_t.jpg", - "left_t": "left_t.jpg", - "right_t": "right_t.jpg", - "top_t-15": "top_t-15.jpg", - "left_t-15": "left_t-15.jpg", - "right_t-15": "right_t-15.jpg", - "top_t-30": "top_t-30.jpg", - "left_t-30": "left_t-30.jpg", - "right_t-30": "right_t-30.jpg" - }, - "overlay": "overlay_t.jpg", - "horizon": 120, - "freeze_frame": 44, - "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on", - "actions": [ - [ - -0.69437, - 1.55722, - 0.55228, - 0.16208, - 0.22504, - -0.64991, - 0.17547, - 0.96294, - 1.50646, - 0.84042, - -0.06814, - -0.27283, - 0.55474, - 0.65001 - ], - [ - -0.69109, - 1.54353, - 0.54909, - 0.15511, - 0.21886, - 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], - [ - -0.65501, - 1.44542, - 0.64285, - 0.01121, - 0.15028, - -0.6414, - 0.33585, - 0.89278, - 1.74365, - 0.98673, - -0.28254, - 0.02552, - 0.50468, - 0.29969 - ], - [ - -0.65501, - 1.44542, - 0.64285, - 0.01121, - 0.15028, - -0.6414, - 0.33585, - 0.89278, - 1.74365, - 0.98673, - -0.28254, - 0.02552, - 0.50468, - 0.29969 - ] - ], - "state_t": [ - -0.71355, - 1.58293, - 0.59567, - 0.2142, - 0.21344, - -0.62161, - 0.16733, - 0.96151, - 1.54173, - 0.82265, - -0.12951, - -0.19017, - 0.58309, - 0.63024 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +6.0 cm forward, -2.7 cm to the robot's left and -4.2 cm up from where it is now (path length 16.0 cm); in the top camera that is +12 px right and -15 px down. Gripper command: now 0.65 open; starts closing at +0.10 s and is shut (0.30) at +1.47 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4525, - 0.0327, - 0.8309 - ], - "grasp_site_now_uv": [ - 311.6, - 297.0 - ], - "grasp_site_at_shut_xyz_m": [ - 0.512, - 0.0053, - 0.7891 - ], - "grasp_site_at_shut_uv": [ - 323.2, - 281.8 - ], - "shut_in_top_view": true, - "close_onset_frame": 3, - "close_done_frame": 44, - "path_len_cm": 16.0, - "path_uv_every_3_frames": [ - [ - 302.8, - 293.0 - ], - [ - 304.5, - 291.5 - ], - [ - 309.2, - 287.5 - ], - [ - 317.1, - 282.4 - ], - [ - 323.7, - 278.7 - ], - [ - 326.0, - 277.7 - ], - [ - 329.0, - 276.8 - ], - [ - 328.2, - 277.2 - ], - [ - 327.3, - 277.3 - ], - [ - 326.5, - 277.0 - ], - [ - 326.2, - 276.8 - ], - [ - 324.7, - 276.9 - ], - [ - 323.4, - 277.8 - ], - [ - 322.7, - 279.5 - ], - [ - 322.7, - 281.2 - ], - [ - 323.2, - 281.8 - ], - [ - 323.2, - 281.8 - ], - [ - 323.2, - 281.8 - ], - [ - 323.2, - 281.8 - ], - 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"id": "s0003_8b0fc929_l_1771", - "task": "place_the_coffee_filter_in_the_dripper", - "side": "left", - "fps": 30, - "inputs": { - "history_frames": [ - 15, - 30 - ], - "files": { - "top_t": "top_t.jpg", - "left_t": "left_t.jpg", - "right_t": "right_t.jpg", - "top_t-15": "top_t-15.jpg", - "left_t-15": "left_t-15.jpg", - "right_t-15": "right_t-15.jpg", - "top_t-30": "top_t-30.jpg", - "left_t-30": "left_t-30.jpg", - "right_t-30": "right_t-30.jpg" - }, - "overlay": "overlay_t.jpg", - "horizon": 120, - "freeze_frame": 15, - "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on", - "actions": [ - [ - -0.72747, - 1.12533, - 0.91208, - -0.50673, - 0.13559, - -0.66548, - 0.68827, - 0.85721, - 1.67356, - 1.31021, - -0.85466, - 0.1093, - 0.30479, - 0.80311 - ], - [ - -0.72709, - 1.12693, - 0.90944, - -0.49597, - 0.14133, - 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By the time the jaws shut, the gripper site has moved +0.8 cm forward, -0.2 cm to the robot's left and -1.1 cm up from where it is now (path length 2.3 cm); in the top camera that is +2 px right and -1 px down. Gripper command: now 0.69 open; starts closing at +0.10 s and is shut (0.40) at +0.50 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4895, - 0.071, - 0.9537 - ], - "grasp_site_now_uv": [ - 292.6, - 259.2 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4974, - 0.0687, - 0.9426 - ], - "grasp_site_at_shut_uv": [ - 294.1, - 258.4 - ], - "shut_in_top_view": true, - "close_onset_frame": 3, - "close_done_frame": 15, - "path_len_cm": 2.3, - "path_uv_every_3_frames": [ - [ - 294.9, - 259.3 - ], - [ - 296.8, - 258.3 - ], - [ - 297.2, - 257.8 - ], - [ - 295.3, - 258.2 - ], - [ - 293.8, - 258.9 - ], - [ - 294.1, - 258.4 - ], - [ - 294.1, - 258.4 - ], - [ - 294.1, - 258.4 - ], - [ - 294.1, - 258.4 - ], - [ - 294.1, - 258.4 - ], - [ - 294.1, - 258.4 - ], - [ - 294.1, - 258.4 - ], - [ - 294.1, - 258.4 - ], - [ - 294.1, - 258.4 - ], - [ - 294.1, - 258.4 - ], - [ - 294.1, - 258.4 - ], - [ - 294.1, - 258.4 - ], - [ - 294.1, - 258.4 - ], - [ - 294.1, - 258.4 - ], - 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"id": "s0004_7fe08c80_r_2090", - "task": "place_and_organize_the_shoes_onto_the_shoe_shelf", - "side": "right", - "fps": 30, - "inputs": { - "history_frames": [ - 15, - 30 - ], - "files": { - "top_t": "top_t.jpg", - "left_t": "left_t.jpg", - "right_t": "right_t.jpg", - "top_t-15": "top_t-15.jpg", - "left_t-15": "left_t-15.jpg", - "right_t-15": "right_t-15.jpg", - "top_t-30": "top_t-30.jpg", - "left_t-30": "left_t-30.jpg", - "right_t-30": "right_t-30.jpg" - }, - "overlay": "overlay_t.jpg", - "horizon": 120, - "freeze_frame": 83, - "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on", - "actions": [ - [ - -0.24088, - 2.24276, - 1.65827, - -0.03846, - 0.11798, - -0.96504, - 0.0563, - -0.10275, - 0.86977, - 0.77621, - -0.59672, - -0.78233, - -0.62433, - 0.99343 - ], - [ - -0.23932, - 2.21838, - 1.65064, - -0.03987, - 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By the time the jaws shut, the gripper site has moved -0.9 cm forward, +15.2 cm to the robot's left and +0.5 cm up from where it is now (path length 35.6 cm); in the top camera that is -78 px right and +3 px down. Gripper command: now 0.99 open; starts closing at +1.50 s and is shut (0.00) at +2.77 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5121, - -0.2131, - 0.9764 - ], - "grasp_site_now_uv": [ - 432.5, - 241.2 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5026, - -0.0616, - 0.9813 - ], - "grasp_site_at_shut_uv": [ - 354.8, - 244.1 - ], - "shut_in_top_view": true, - "close_onset_frame": 45, - "close_done_frame": 83, - "path_len_cm": 35.6, - "path_uv_every_3_frames": [ - [ - 434.4, - 240.3 - ], - [ - 434.8, - 240.3 - ], - [ - 435.2, - 240.2 - ], - [ - 435.5, - 240.1 - ], - [ - 434.6, - 240.3 - ], - [ - 430.3, - 241.7 - ], - [ - 426.8, - 242.0 - ], - [ - 423.6, - 241.8 - ], - [ - 412.3, - 244.1 - ], - [ - 400.7, - 241.5 - ], - [ - 390.2, - 240.9 - ], - [ - 381.3, - 242.2 - ], - [ - 377.8, - 238.3 - ], - [ - 376.2, - 237.9 - ], - [ - 378.7, - 240.8 - ], - [ - 378.9, - 242.9 - ], - [ - 376.6, - 249.0 - ], - [ - 375.2, - 252.0 - ], - [ - 372.6, - 252.4 - 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0.49535, - 1.14614, - 1.66724, - -0.86919, - 0.42363, - 0.80358, - 0.08655 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +2.7 cm forward, -53.7 cm to the robot's left and +23.6 cm up from where it is now (path length 75.6 cm); in the top camera that is +277 px right and -76 px down. Gripper command: now 0.99 open; starts closing at +1.17 s and is shut (0.00) at +2.33 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4778, - 0.3621, - 0.8872 - ], - "grasp_site_now_uv": [ - 152.8, - 273.7 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5053, - -0.1753, - 1.1228 - ], - "grasp_site_at_shut_uv": [ - 430.0, - 197.3 - ], - "shut_in_top_view": true, - "close_onset_frame": 35, - "close_done_frame": 70, - "path_len_cm": 75.6, - "path_uv_every_3_frames": [ - [ - 131.8, - 250.2 - ], - [ - 124.1, - 246.1 - ], - [ - 134.4, - 235.0 - ], - [ - 150.9, - 222.8 - ], - [ - 163.1, - 215.5 - ], - [ - 175.2, - 207.4 - ], - [ - 192.8, - 200.9 - ], - [ - 223.2, - 194.1 - ], - [ - 255.9, - 190.9 - ], - [ - 285.6, - 194.9 - ], - [ - 315.3, - 201.1 - ], - [ - 343.5, - 203.5 - ], - [ - 368.1, - 204.1 - ], - [ - 390.0, - 199.2 - ], - [ - 409.1, - 198.6 - ], - [ - 427.5, - 200.0 - ], - [ - 442.2, - 202.7 - ], - [ - 448.3, - 199.9 - ], - [ - 450.4, - 197.0 - ], - [ - 452.5, - 196.2 - ], - [ - 453.5, - 195.7 - ], - [ - 451.0, - 196.3 - ], - [ - 445.7, - 197.4 - ], - [ - 432.4, - 197.1 - ], - [ - 430.0, - 197.3 - ], - [ - 430.0, - 197.3 - ], - [ - 430.0, - 197.3 - ], - [ - 430.0, - 197.3 - ], - [ - 430.0, - 197.3 - ], - [ - 430.0, - 197.3 - ], - [ - 430.0, - 197.3 - ], - [ - 430.0, - 197.3 - ], - [ - 430.0, - 197.3 - ], - [ - 430.0, - 197.3 - ], - [ - 430.0, - 197.3 - ], - [ - 430.0, - 197.3 - ], - [ - 430.0, - 197.3 - ], - [ - 430.0, - 197.3 - ], - [ - 430.0, - 197.3 - ], - [ - 430.0, - 197.3 - ] - ], - "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml" - } - } -} \ No newline at end of file diff --git a/public/samples/s0005_3ad71a45_l_2157/top_t-15.jpg b/public/samples/s0005_3ad71a45_l_2157/top_t-15.jpg deleted file mode 100644 index a85c6906d5fe75777e93f7d4a043afd6de4cc36d..0000000000000000000000000000000000000000 Binary files a/public/samples/s0005_3ad71a45_l_2157/top_t-15.jpg and /dev/null differ diff --git a/public/samples/s0005_3ad71a45_l_2157/top_t-30.jpg b/public/samples/s0005_3ad71a45_l_2157/top_t-30.jpg deleted file mode 100644 index 9c08a110cc6c4e12469c07fb03bd1ade8c627c1c..0000000000000000000000000000000000000000 Binary files a/public/samples/s0005_3ad71a45_l_2157/top_t-30.jpg and /dev/null differ diff --git a/public/samples/s0005_3ad71a45_l_2157/top_t.jpg b/public/samples/s0005_3ad71a45_l_2157/top_t.jpg deleted file mode 100644 index afde9eb81b2b2775424f7adbeba44cafa160526c..0000000000000000000000000000000000000000 Binary files a/public/samples/s0005_3ad71a45_l_2157/top_t.jpg and /dev/null differ diff --git a/public/samples/s0006_e3d7715b_r_443/left_t-15.jpg b/public/samples/s0006_e3d7715b_r_443/left_t-15.jpg deleted file mode 100644 index 2dca82b24809b5c1988922a80975f1bdbfa6974c..0000000000000000000000000000000000000000 Binary files a/public/samples/s0006_e3d7715b_r_443/left_t-15.jpg and /dev/null differ diff --git a/public/samples/s0006_e3d7715b_r_443/left_t-30.jpg b/public/samples/s0006_e3d7715b_r_443/left_t-30.jpg deleted file mode 100644 index 2af1d9429a99fc8524b0707deb4c254adfb823bc..0000000000000000000000000000000000000000 Binary files a/public/samples/s0006_e3d7715b_r_443/left_t-30.jpg and /dev/null differ diff --git a/public/samples/s0006_e3d7715b_r_443/left_t.jpg b/public/samples/s0006_e3d7715b_r_443/left_t.jpg deleted file mode 100644 index 3eda9247d8eef84c84c5e75d58afe4c5c5f26802..0000000000000000000000000000000000000000 Binary files a/public/samples/s0006_e3d7715b_r_443/left_t.jpg and /dev/null differ diff --git a/public/samples/s0006_e3d7715b_r_443/overlay_t.jpg b/public/samples/s0006_e3d7715b_r_443/overlay_t.jpg deleted file mode 100644 index 8c7d1a99bd5f6257cb74f58de439c051189d129f..0000000000000000000000000000000000000000 Binary files a/public/samples/s0006_e3d7715b_r_443/overlay_t.jpg and /dev/null differ diff --git a/public/samples/s0006_e3d7715b_r_443/right_t-15.jpg b/public/samples/s0006_e3d7715b_r_443/right_t-15.jpg deleted file mode 100644 index e7c758a3fbe3fad3c76ba51f53f13bdf90b78bef..0000000000000000000000000000000000000000 --- a/public/samples/s0006_e3d7715b_r_443/right_t-15.jpg +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:ee58ad0f3c9c9782cf4059693f0723537fe499d6f8b9861c12a2a4feba067ec1 -size 104192 diff --git a/public/samples/s0006_e3d7715b_r_443/right_t-30.jpg b/public/samples/s0006_e3d7715b_r_443/right_t-30.jpg deleted file mode 100644 index 89c4d951a631230d490a718fc1b73565b223b999..0000000000000000000000000000000000000000 --- a/public/samples/s0006_e3d7715b_r_443/right_t-30.jpg +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:5a2b29164d9d04850e4ab06a2e7dc17614d1692873d370637a428b3080e94434 -size 105037 diff --git a/public/samples/s0006_e3d7715b_r_443/right_t.jpg b/public/samples/s0006_e3d7715b_r_443/right_t.jpg deleted file mode 100644 index 22d2481f4a12a31e6484c984e46e3d92f85fd5ba..0000000000000000000000000000000000000000 --- a/public/samples/s0006_e3d7715b_r_443/right_t.jpg +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:86ceac971bb9bea72d5c387972e6dbed0ad2ddbac345d4635d4819554756e52e -size 100349 diff --git a/public/samples/s0006_e3d7715b_r_443/sample.json b/public/samples/s0006_e3d7715b_r_443/sample.json deleted file mode 100644 index 0cd3bf9c77bfe5189f60cee55a3ed4ec1ef161af..0000000000000000000000000000000000000000 --- a/public/samples/s0006_e3d7715b_r_443/sample.json +++ /dev/null @@ -1,2154 +0,0 @@ -{ - "id": "s0006_e3d7715b_r_443", - "task": "load_the_bowls_into_the_dish_rack", - "side": "right", - "fps": 30, - "inputs": { - "history_frames": [ - 15, - 30 - ], - "files": { - "top_t": "top_t.jpg", - "left_t": "left_t.jpg", - "right_t": "right_t.jpg", - "top_t-15": "top_t-15.jpg", - "left_t-15": "left_t-15.jpg", - "right_t-15": "right_t-15.jpg", - "top_t-30": "top_t-30.jpg", - "left_t-30": "left_t-30.jpg", - "right_t-30": "right_t-30.jpg" - }, - "overlay": "overlay_t.jpg", - "horizon": 120, - "freeze_frame": 80, - "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on", - "actions": [ - [ - -0.52001, - 1.56671, - 1.38634, - -1.15791, - 0.28654, - -0.11852, - 0.00409, - -0.0092, - 1.38221, - 1.49155, - -0.8575, - -0.25557, - 0.07212, - 0.97709 - ], - [ - -0.51213, - 1.55328, - 1.39874, - -1.1623, - 0.28822, - -0.11678, - 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By the time the jaws shut, the gripper site has moved +1.8 cm forward, +18.0 cm to the robot's left and +12.3 cm up from where it is now (path length 34.2 cm); in the top camera that is -76 px right and -47 px down. Gripper command: now 0.98 open; starts closing at +0.03 s and is shut (0.07) at +2.67 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.6312, - -0.2732, - 1.0337 - ], - "grasp_site_now_uv": [ - 446.6, - 179.6 - ], - "grasp_site_at_shut_xyz_m": [ - 0.6489, - -0.0935, - 1.1563 - ], - "grasp_site_at_shut_uv": [ - 370.2, - 132.1 - ], - "shut_in_top_view": true, - "close_onset_frame": 1, - "close_done_frame": 80, - "path_len_cm": 34.2, - "path_uv_every_3_frames": [ - [ - 446.8, - 174.1 - ], - [ - 447.3, - 172.1 - ], - [ - 446.6, - 169.8 - ], - [ - 445.3, - 166.0 - ], - [ - 441.3, - 160.0 - ], - [ - 433.3, - 153.4 - ], - [ - 424.8, - 146.7 - ], - [ - 414.5, - 140.5 - ], - [ - 403.3, - 136.3 - ], - [ - 392.4, - 134.8 - ], - [ - 384.4, - 133.5 - ], - [ - 378.7, - 133.5 - ], - [ - 376.3, - 133.4 - ], - [ - 378.4, - 132.6 - ], - [ - 382.1, - 130.5 - ], - [ - 382.5, - 128.0 - ], - [ - 379.9, - 128.5 - ], - [ - 381.3, - 128.7 - ], - [ - 381.2, - 128.7 - 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"id": "s0007_de247e0f_l_1182", - "task": "pack_the_takeout_coffee", - "side": "left", - "fps": 30, - "inputs": { - "history_frames": [ - 15, - 30 - ], - "files": { - "top_t": "top_t.jpg", - "left_t": "left_t.jpg", - "right_t": "right_t.jpg", - "top_t-15": "top_t-15.jpg", - "left_t-15": "left_t-15.jpg", - "right_t-15": "right_t-15.jpg", - "top_t-30": "top_t-30.jpg", - "left_t-30": "left_t-30.jpg", - "right_t-30": "right_t-30.jpg" - }, - "overlay": "overlay_t.jpg", - "horizon": 120, - "freeze_frame": 71, - "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on", - "actions": [ - [ - -0.71253, - 1.08452, - 0.48647, - 0.03964, - 0.39275, - -0.76696, - 0.56722, - 0.81699, - 1.25775, - 0.81515, - -0.36547, - -0.36954, - 0.9318, - 0.0 - ], - [ - -0.71329, - 1.08455, - 0.48512, - 0.04105, - 0.39359, - -0.76665, - 0.56542, - 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By the time the jaws shut, the gripper site has moved +2.1 cm forward, +5.5 cm to the robot's left and -3.0 cm up from where it is now (path length 12.7 cm); in the top camera that is -22 px right and -3 px down. Gripper command: now 0.57 open; starts closing at +1.47 s and is shut (0.37) at +2.37 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4593, - 0.0438, - 0.893 - ], - "grasp_site_now_uv": [ - 307.5, - 280.8 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4801, - 0.0985, - 0.863 - ], - "grasp_site_at_shut_uv": [ - 285.2, - 278.1 - ], - "shut_in_top_view": true, - "close_onset_frame": 44, - "close_done_frame": 71, - "path_len_cm": 12.7, - "path_uv_every_3_frames": [ - [ - 306.7, - 282.2 - ], - [ - 306.7, - 282.6 - ], - [ - 306.5, - 283.2 - ], - [ - 306.5, - 283.8 - ], - [ - 306.3, - 284.6 - ], - [ - 305.9, - 285.4 - ], - [ - 305.2, - 286.3 - ], - [ - 304.4, - 287.0 - ], - [ - 303.8, - 287.7 - ], - [ - 303.4, - 287.6 - ], - [ - 303.0, - 286.4 - ], - [ - 302.0, - 284.4 - ], - [ - 300.8, - 282.0 - ], - [ - 298.9, - 280.3 - ], - [ - 296.7, - 278.9 - ], - [ - 295.0, - 278.7 - ], - [ - 294.1, - 279.3 - ], - [ - 293.1, - 280.0 - ], - [ - 291.7, - 280.3 - ], - 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By the time the jaws shut, the gripper site has moved +4.9 cm forward, -3.9 cm to the robot's left and -11.3 cm up from where it is now (path length 25.4 cm); in the top camera that is +29 px right and +12 px down. Gripper command: now 0.98 open; starts closing at +1.80 s and is shut (0.54) at +2.47 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.595, - 0.1822, - 1.0105 - ], - "grasp_site_now_uv": [ - 217.5, - 194.3 - ], - "grasp_site_at_shut_xyz_m": [ - 0.6438, - 0.143, - 0.8979 - ], - "grasp_site_at_shut_uv": [ - 246.4, - 206.5 - ], - "shut_in_top_view": true, - "close_onset_frame": 54, - "close_done_frame": 74, - "path_len_cm": 25.4, - "path_uv_every_3_frames": [ - [ - 220.0, - 191.9 - ], - [ - 219.9, - 194.6 - ], - [ - 221.7, - 198.4 - ], - [ - 224.2, - 199.8 - ], - [ - 229.4, - 201.1 - ], - [ - 235.0, - 201.8 - ], - [ - 240.9, - 202.5 - ], - [ - 245.4, - 204.1 - ], - [ - 247.5, - 206.9 - ], - [ - 248.9, - 209.8 - ], - [ - 249.5, - 210.8 - ], - [ - 250.4, - 212.8 - ], - [ - 250.0, - 213.9 - ], - [ - 249.2, - 216.9 - ], - [ - 248.9, - 218.6 - ], - [ - 248.2, - 218.8 - ], - [ - 247.4, - 218.4 - ], - [ - 246.7, - 219.1 - ], - [ - 245.9, - 220.4 - ], - [ - 244.4, - 221.2 - ], - [ - 243.6, - 221.6 - ], - [ - 243.9, - 219.8 - ], - [ - 244.8, - 217.1 - ], - [ - 245.4, - 213.8 - ], - [ - 246.6, - 209.6 - ], - [ - 246.4, - 206.5 - ], - [ - 246.4, - 206.5 - ], - [ - 246.4, - 206.5 - ], - [ - 246.4, - 206.5 - ], - [ - 246.4, - 206.5 - ], - [ - 246.4, - 206.5 - ], - [ - 246.4, - 206.5 - ], - [ - 246.4, - 206.5 - ], - [ - 246.4, - 206.5 - ], - [ - 246.4, - 206.5 - ], - [ - 246.4, - 206.5 - ], - [ - 246.4, - 206.5 - ], - [ - 246.4, - 206.5 - ], - [ - 246.4, - 206.5 - ], - [ - 246.4, - 206.5 - ] - ], - "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml" - } - } -} \ No newline at end of file diff --git a/public/samples/s0008_229f977d_l_1860/top_t-15.jpg b/public/samples/s0008_229f977d_l_1860/top_t-15.jpg deleted file mode 100644 index 242fad33da93b259b92f6a24aee736d5bb23d09a..0000000000000000000000000000000000000000 Binary files a/public/samples/s0008_229f977d_l_1860/top_t-15.jpg and /dev/null differ diff --git a/public/samples/s0008_229f977d_l_1860/top_t-30.jpg b/public/samples/s0008_229f977d_l_1860/top_t-30.jpg deleted file mode 100644 index 28ac6379a945e96e6d8fbbe964d758d1c74a1f70..0000000000000000000000000000000000000000 Binary files a/public/samples/s0008_229f977d_l_1860/top_t-30.jpg and /dev/null differ diff --git a/public/samples/s0008_229f977d_l_1860/top_t.jpg b/public/samples/s0008_229f977d_l_1860/top_t.jpg deleted file mode 100644 index 5c89e49d31aca59e2a0c50172234ed7061b7bb2e..0000000000000000000000000000000000000000 Binary files a/public/samples/s0008_229f977d_l_1860/top_t.jpg and /dev/null differ diff --git a/public/samples/s0009_201ea8d5_r_309/left_t-15.jpg b/public/samples/s0009_201ea8d5_r_309/left_t-15.jpg deleted file mode 100644 index cbd1cf8a401950cfb2d540cf76a60456304c2721..0000000000000000000000000000000000000000 Binary files a/public/samples/s0009_201ea8d5_r_309/left_t-15.jpg and /dev/null differ diff --git a/public/samples/s0009_201ea8d5_r_309/left_t-30.jpg b/public/samples/s0009_201ea8d5_r_309/left_t-30.jpg deleted file mode 100644 index 7415a10852554b71a65e84bd0efda36ce152ed66..0000000000000000000000000000000000000000 Binary files a/public/samples/s0009_201ea8d5_r_309/left_t-30.jpg and /dev/null differ diff --git a/public/samples/s0009_201ea8d5_r_309/left_t.jpg b/public/samples/s0009_201ea8d5_r_309/left_t.jpg deleted file mode 100644 index d287dd2ea612a1bbb25dae29cb826982589f7a00..0000000000000000000000000000000000000000 Binary files a/public/samples/s0009_201ea8d5_r_309/left_t.jpg and /dev/null differ diff --git a/public/samples/s0009_201ea8d5_r_309/overlay_t.jpg b/public/samples/s0009_201ea8d5_r_309/overlay_t.jpg deleted file mode 100644 index 82c836ebf391c9de5afdf7290996d4e320b64435..0000000000000000000000000000000000000000 Binary files a/public/samples/s0009_201ea8d5_r_309/overlay_t.jpg and /dev/null differ diff --git a/public/samples/s0009_201ea8d5_r_309/right_t-15.jpg b/public/samples/s0009_201ea8d5_r_309/right_t-15.jpg deleted file mode 100644 index 8a8b422c5ca0a08d00d71d80b0c59b11d79aaa93..0000000000000000000000000000000000000000 Binary files a/public/samples/s0009_201ea8d5_r_309/right_t-15.jpg and /dev/null differ diff --git a/public/samples/s0009_201ea8d5_r_309/right_t-30.jpg b/public/samples/s0009_201ea8d5_r_309/right_t-30.jpg deleted file mode 100644 index 926622d996f3554fdd3239f44cf18e52eacebee4..0000000000000000000000000000000000000000 Binary files a/public/samples/s0009_201ea8d5_r_309/right_t-30.jpg and /dev/null differ diff --git a/public/samples/s0009_201ea8d5_r_309/right_t.jpg b/public/samples/s0009_201ea8d5_r_309/right_t.jpg deleted file mode 100644 index 6d1c68736cf8a3128c725687b85b923a2033f296..0000000000000000000000000000000000000000 Binary files a/public/samples/s0009_201ea8d5_r_309/right_t.jpg and /dev/null differ diff --git a/public/samples/s0009_201ea8d5_r_309/sample.json b/public/samples/s0009_201ea8d5_r_309/sample.json deleted file mode 100644 index 0bdff3a8eaad3f85febd057c3292f262d5e60676..0000000000000000000000000000000000000000 --- a/public/samples/s0009_201ea8d5_r_309/sample.json +++ /dev/null @@ -1,2154 +0,0 @@ -{ - "id": "s0009_201ea8d5_r_309", - "task": "take_the_wine_glass_off_the_wine_glass_rack", - "side": "right", - "fps": 30, - "inputs": { - "history_frames": [ - 15, - 30 - ], - "files": { - "top_t": "top_t.jpg", - "left_t": "left_t.jpg", - "right_t": "right_t.jpg", - "top_t-15": "top_t-15.jpg", - "left_t-15": "left_t-15.jpg", - "right_t-15": "right_t-15.jpg", - "top_t-30": "top_t-30.jpg", - "left_t-30": "left_t-30.jpg", - "right_t-30": "right_t-30.jpg" - }, - "overlay": "overlay_t.jpg", - "horizon": 120, - "freeze_frame": 88, - "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on", - "actions": [ - [ - -0.07061, - 1.95694, - 1.85398, - -1.09286, - -0.01846, - -0.18512, - 0.11969, - 0.36764, - 0.87086, - 1.1972, - -0.2346, - 0.62663, - 0.43037, - 0.9956 - ], - [ - -0.07057, - 1.95405, - 1.84607, - -1.08748, - -0.02551, - 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By the time the jaws shut, the gripper site has moved +18.1 cm forward, +20.0 cm to the robot's left and -12.0 cm up from where it is now (path length 33.7 cm); in the top camera that is -134 px right and -24 px down. Gripper command: now 1.00 open; starts closing at +1.03 s and is shut (0.51) at +2.93 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5422, - -0.3059, - 1.2208 - ], - "grasp_site_now_uv": [ - 503.8, - 149.1 - ], - "grasp_site_at_shut_xyz_m": [ - 0.7237, - -0.106, - 1.1007 - ], - "grasp_site_at_shut_uv": [ - 370.3, - 125.2 - ], - "shut_in_top_view": true, - "close_onset_frame": 31, - "close_done_frame": 88, - "path_len_cm": 33.7, - "path_uv_every_3_frames": [ - [ - 502.9, - 148.6 - ], - [ - 501.8, - 148.2 - ], - [ - 500.1, - 147.4 - ], - [ - 497.7, - 146.1 - ], - [ - 493.9, - 145.5 - ], - [ - 487.9, - 144.9 - ], - [ - 481.8, - 144.4 - ], - [ - 474.0, - 142.2 - ], - [ - 461.9, - 139.3 - ], - [ - 447.9, - 134.8 - ], - [ - 433.8, - 131.7 - ], - [ - 429.4, - 131.8 - ], - [ - 422.0, - 131.4 - ], - [ - 412.5, - 127.7 - ], - [ - 400.8, - 123.2 - ], - [ - 392.9, - 119.9 - ], - [ - 388.6, - 116.6 - ], - [ - 385.5, - 113.1 - ], - [ - 382.7, - 112.1 - ], - [ - 381.2, - 112.7 - ], - [ - 380.0, - 114.5 - ], - [ - 379.0, - 114.7 - ], - [ - 378.6, - 115.3 - ], - [ - 376.9, - 117.4 - ], - [ - 375.5, - 119.1 - ], - [ - 374.9, - 120.4 - ], - [ - 375.0, - 121.4 - ], - [ - 373.7, - 123.1 - ], - [ - 371.9, - 123.9 - ], - [ - 370.8, - 124.6 - ], - [ - 370.3, - 125.2 - ], - [ - 370.3, - 125.2 - ], - [ - 370.3, - 125.2 - ], - [ - 370.3, - 125.2 - ], - [ - 370.3, - 125.2 - ], - [ - 370.3, - 125.2 - ], - [ - 370.3, - 125.2 - ], - [ - 370.3, - 125.2 - ], - [ - 370.3, - 125.2 - ], - [ - 370.3, - 125.2 - ] - ], - "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml" - } - } -} \ No newline at end of file diff --git a/public/samples/s0009_201ea8d5_r_309/top_t-15.jpg b/public/samples/s0009_201ea8d5_r_309/top_t-15.jpg deleted file mode 100644 index 53c3f48a7f30b335ed27a0a01ba0d89a28034021..0000000000000000000000000000000000000000 Binary files a/public/samples/s0009_201ea8d5_r_309/top_t-15.jpg and /dev/null differ diff --git a/public/samples/s0009_201ea8d5_r_309/top_t-30.jpg b/public/samples/s0009_201ea8d5_r_309/top_t-30.jpg deleted file mode 100644 index 4b2bb01d3a9e5bca5555cbefac505daeb1a7d6de..0000000000000000000000000000000000000000 Binary files a/public/samples/s0009_201ea8d5_r_309/top_t-30.jpg and /dev/null differ diff --git a/public/samples/s0009_201ea8d5_r_309/top_t.jpg b/public/samples/s0009_201ea8d5_r_309/top_t.jpg deleted file mode 100644 index 11d82032a0d531ea2427106e5fe7bb716fce1f73..0000000000000000000000000000000000000000 Binary files a/public/samples/s0009_201ea8d5_r_309/top_t.jpg and /dev/null differ diff --git a/public/samples/s0010_e84d0e9e_r_599/left_t-15.jpg b/public/samples/s0010_e84d0e9e_r_599/left_t-15.jpg deleted file mode 100644 index 7d07fa8cab02f778254499b2e5c78a503405b10a..0000000000000000000000000000000000000000 Binary files a/public/samples/s0010_e84d0e9e_r_599/left_t-15.jpg and /dev/null differ diff --git a/public/samples/s0010_e84d0e9e_r_599/left_t-30.jpg b/public/samples/s0010_e84d0e9e_r_599/left_t-30.jpg deleted file mode 100644 index d634a7734243aa26027b18d1105899285be875fd..0000000000000000000000000000000000000000 Binary files a/public/samples/s0010_e84d0e9e_r_599/left_t-30.jpg and /dev/null differ diff --git a/public/samples/s0010_e84d0e9e_r_599/left_t.jpg b/public/samples/s0010_e84d0e9e_r_599/left_t.jpg deleted file mode 100644 index bdf2774b201af629ff278ce637a4e1ca3d5d43e3..0000000000000000000000000000000000000000 Binary files a/public/samples/s0010_e84d0e9e_r_599/left_t.jpg and /dev/null differ diff --git a/public/samples/s0010_e84d0e9e_r_599/overlay_t.jpg b/public/samples/s0010_e84d0e9e_r_599/overlay_t.jpg deleted file mode 100644 index f4a317173fd8bc50a0c4d43eecf65fe1766b3042..0000000000000000000000000000000000000000 Binary files a/public/samples/s0010_e84d0e9e_r_599/overlay_t.jpg and /dev/null differ diff --git a/public/samples/s0010_e84d0e9e_r_599/right_t-15.jpg b/public/samples/s0010_e84d0e9e_r_599/right_t-15.jpg deleted file mode 100644 index 324dc1888be8c431654bc1fae76347e73c767197..0000000000000000000000000000000000000000 Binary files a/public/samples/s0010_e84d0e9e_r_599/right_t-15.jpg and /dev/null differ diff --git a/public/samples/s0010_e84d0e9e_r_599/right_t-30.jpg b/public/samples/s0010_e84d0e9e_r_599/right_t-30.jpg deleted file mode 100644 index df3846e90470f15e64c9098c2b3597c7b75b97be..0000000000000000000000000000000000000000 Binary files a/public/samples/s0010_e84d0e9e_r_599/right_t-30.jpg and /dev/null differ diff --git a/public/samples/s0010_e84d0e9e_r_599/right_t.jpg b/public/samples/s0010_e84d0e9e_r_599/right_t.jpg deleted file mode 100644 index 08820823d1f19c8a313fa67cf1998e0144bbae33..0000000000000000000000000000000000000000 Binary files a/public/samples/s0010_e84d0e9e_r_599/right_t.jpg and /dev/null differ diff --git a/public/samples/s0010_e84d0e9e_r_599/sample.json b/public/samples/s0010_e84d0e9e_r_599/sample.json deleted file mode 100644 index ee5712290c7b6380608a446db65b38db9fe37408..0000000000000000000000000000000000000000 --- a/public/samples/s0010_e84d0e9e_r_599/sample.json +++ /dev/null @@ -1,2154 +0,0 @@ -{ - "id": "s0010_e84d0e9e_r_599", - "task": "sort_the_eating_utensils_into_containers", - "side": "right", - "fps": 30, - "inputs": { - "history_frames": [ - 15, - 30 - ], - "files": { - "top_t": "top_t.jpg", - "left_t": "left_t.jpg", - "right_t": "right_t.jpg", - "top_t-15": "top_t-15.jpg", - "left_t-15": "left_t-15.jpg", - "right_t-15": "right_t-15.jpg", - "top_t-30": "top_t-30.jpg", - "left_t-30": "left_t-30.jpg", - "right_t-30": "right_t-30.jpg" - }, - "overlay": "overlay_t.jpg", - "horizon": 120, - "freeze_frame": 31, - "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on", - "actions": [ - [ - -0.05666, - 1.32536, - 1.56466, - 0.09808, - 0.91108, - -0.07806, - 0.0, - 0.59825, - 1.82372, - 1.83311, - 0.39823, - -0.77752, - 0.18507, - 0.89183 - ], - [ - -0.06739, - 1.31473, - 1.55555, - 0.10729, - 0.9203, - -0.0919, - 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"plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -3.3 cm forward, +5.3 cm to the robot's left and +1.7 cm up from where it is now (path length 6.3 cm); in the top camera that is -38 px right and +6 px down. Gripper command: now 0.89 open; starts closing at +0.00 s and is shut (0.04) at +1.03 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.6225, - 0.067, - 1.2306 - ], - "grasp_site_now_uv": [ - 280.1, - 94.5 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5893, - 0.1202, - 1.2478 - ], - "grasp_site_at_shut_uv": [ - 242.6, - 101.0 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 31, - "path_len_cm": 6.3, - "path_uv_every_3_frames": [ - [ - 272.3, - 86.9 - ], - [ - 262.0, - 89.2 - ], - [ - 256.6, - 91.3 - ], - [ - 257.3, - 91.0 - ], - [ - 251.7, - 95.8 - ], - [ - 250.7, - 96.2 - ], - [ - 247.6, - 98.8 - ], - [ - 244.3, - 100.0 - ], - [ - 243.4, - 99.8 - ], - [ - 242.6, - 100.9 - ], - [ - 242.6, - 101.0 - ], - [ - 242.6, - 101.0 - ], - [ - 242.6, - 101.0 - ], - [ - 242.6, - 101.0 - ], - [ - 242.6, - 101.0 - ], - [ - 242.6, - 101.0 - ], - [ - 242.6, - 101.0 - ], - [ - 242.6, - 101.0 - ], - [ - 242.6, - 101.0 - ], - [ - 242.6, - 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"id": "s0011_3ad71a45_l_1965", - "task": "remove_the_socks_clipped_to_the_hanger", - "side": "left", - "fps": 30, - "inputs": { - "history_frames": [ - 15, - 30 - ], - "files": { - "top_t": "top_t.jpg", - "left_t": "left_t.jpg", - "right_t": "right_t.jpg", - "top_t-15": "top_t-15.jpg", - "left_t-15": "left_t-15.jpg", - "right_t-15": "right_t-15.jpg", - "top_t-30": "top_t-30.jpg", - "left_t-30": "left_t-30.jpg", - "right_t-30": "right_t-30.jpg" - }, - "overlay": "overlay_t.jpg", - "horizon": 120, - "freeze_frame": 61, - "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on", - "actions": [ - [ - -0.46785, - 0.73187, - 0.75614, - -1.10602, - -0.82215, - -1.25789, - 0.97507, - 0.46938, - 1.00017, - 1.63832, - -0.79152, - 0.40651, - 0.67036, - 0.0 - ], - [ - -0.46786, - 0.70741, - 0.76992, - -1.106, - -0.82525, - -1.2366, - 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By the time the jaws shut, the gripper site has moved +2.8 cm forward, -53.5 cm to the robot's left and +20.7 cm up from where it is now (path length 79.4 cm); in the top camera that is +285 px right and -69 px down. Gripper command: now 0.98 open; starts closing at +1.37 s and is shut (0.00) at +2.03 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4662, - 0.3361, - 0.913 - ], - "grasp_site_now_uv": [ - 159.9, - 273.4 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4938, - -0.1989, - 1.1198 - ], - "grasp_site_at_shut_uv": [ - 444.7, - 204.1 - ], - "shut_in_top_view": true, - "close_onset_frame": 41, - "close_done_frame": 61, - "path_len_cm": 79.4, - "path_uv_every_3_frames": [ - [ - 146.6, - 275.9 - ], - [ - 142.1, - 270.4 - ], - [ - 135.6, - 259.6 - ], - [ - 146.9, - 242.1 - ], - [ - 174.5, - 228.3 - ], - [ - 208.9, - 220.0 - ], - [ - 244.2, - 213.3 - ], - [ - 281.6, - 209.4 - ], - [ - 318.6, - 205.9 - ], - [ - 356.2, - 207.1 - ], - [ - 386.2, - 211.7 - ], - [ - 409.3, - 217.4 - ], - [ - 427.7, - 218.9 - ], - [ - 442.9, - 218.8 - ], - [ - 454.9, - 217.2 - ], - [ - 463.5, - 215.0 - ], - [ - 468.1, - 211.4 - ], - [ - 472.4, - 211.4 - ], - [ - 472.2, - 212.5 - ], - [ - 462.6, - 204.7 - ], - [ - 448.8, - 202.4 - ], - [ - 444.7, - 204.1 - ], - [ - 444.7, - 204.1 - ], - [ - 444.7, - 204.1 - ], - [ - 444.7, - 204.1 - ], - [ - 444.7, - 204.1 - ], - [ - 444.7, - 204.1 - ], - [ - 444.7, - 204.1 - ], - [ - 444.7, - 204.1 - ], - [ - 444.7, - 204.1 - ], - [ - 444.7, - 204.1 - ], - [ - 444.7, - 204.1 - ], - [ - 444.7, - 204.1 - ], - [ - 444.7, - 204.1 - ], - [ - 444.7, - 204.1 - ], - [ - 444.7, - 204.1 - ], - [ - 444.7, - 204.1 - ], - [ - 444.7, - 204.1 - ], - [ - 444.7, - 204.1 - ], - [ - 444.7, - 204.1 - ] - ], - "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml" - } - } -} \ No newline at end of file diff --git a/public/samples/s0011_3ad71a45_l_1965/top_t-15.jpg b/public/samples/s0011_3ad71a45_l_1965/top_t-15.jpg deleted file mode 100644 index f7ae357f6051fb74c8123b2fb04a8b28b1483ad3..0000000000000000000000000000000000000000 Binary files a/public/samples/s0011_3ad71a45_l_1965/top_t-15.jpg and /dev/null differ diff --git a/public/samples/s0011_3ad71a45_l_1965/top_t-30.jpg b/public/samples/s0011_3ad71a45_l_1965/top_t-30.jpg deleted file mode 100644 index 23fe2c2608c553813b2de47d3f10ec15d88e48de..0000000000000000000000000000000000000000 Binary files a/public/samples/s0011_3ad71a45_l_1965/top_t-30.jpg and /dev/null differ diff --git a/public/samples/s0011_3ad71a45_l_1965/top_t.jpg b/public/samples/s0011_3ad71a45_l_1965/top_t.jpg deleted file mode 100644 index 72b58c968f5b4bce72676d67ea12fddbd91a0efb..0000000000000000000000000000000000000000 Binary files a/public/samples/s0011_3ad71a45_l_1965/top_t.jpg and /dev/null differ diff --git a/public/samples/s0012_da30fafe_r_135/left_t-15.jpg b/public/samples/s0012_da30fafe_r_135/left_t-15.jpg deleted file mode 100644 index dfc12234f74ccae94b3c2aa282fffd527696af71..0000000000000000000000000000000000000000 Binary files a/public/samples/s0012_da30fafe_r_135/left_t-15.jpg and /dev/null differ diff --git a/public/samples/s0012_da30fafe_r_135/left_t-30.jpg b/public/samples/s0012_da30fafe_r_135/left_t-30.jpg deleted file mode 100644 index b5ff4a17d0e52c33884992d69b135aa46aa07dc9..0000000000000000000000000000000000000000 Binary files a/public/samples/s0012_da30fafe_r_135/left_t-30.jpg and /dev/null differ diff --git a/public/samples/s0012_da30fafe_r_135/left_t.jpg b/public/samples/s0012_da30fafe_r_135/left_t.jpg deleted file mode 100644 index 5bdd8f9157cc0d459c3f713482da120e23a17f07..0000000000000000000000000000000000000000 Binary files a/public/samples/s0012_da30fafe_r_135/left_t.jpg and /dev/null differ diff --git a/public/samples/s0012_da30fafe_r_135/overlay_t.jpg b/public/samples/s0012_da30fafe_r_135/overlay_t.jpg deleted file mode 100644 index cb7f989c755b2a377e1a6001a1b8bea22b8a91a9..0000000000000000000000000000000000000000 Binary files a/public/samples/s0012_da30fafe_r_135/overlay_t.jpg and /dev/null differ diff --git a/public/samples/s0012_da30fafe_r_135/right_t-15.jpg b/public/samples/s0012_da30fafe_r_135/right_t-15.jpg deleted file mode 100644 index 553697a2c3cb0cb230d7e36d13ce22eb2458c639..0000000000000000000000000000000000000000 Binary files a/public/samples/s0012_da30fafe_r_135/right_t-15.jpg and /dev/null differ diff --git a/public/samples/s0012_da30fafe_r_135/right_t-30.jpg b/public/samples/s0012_da30fafe_r_135/right_t-30.jpg deleted file mode 100644 index b56ef39b4a6001affb101c68d9f676678afb2b71..0000000000000000000000000000000000000000 Binary files a/public/samples/s0012_da30fafe_r_135/right_t-30.jpg and /dev/null differ diff --git a/public/samples/s0012_da30fafe_r_135/right_t.jpg b/public/samples/s0012_da30fafe_r_135/right_t.jpg deleted file mode 100644 index 9929cda29094a37e3d1f24caf6812c8359a9c92d..0000000000000000000000000000000000000000 Binary files a/public/samples/s0012_da30fafe_r_135/right_t.jpg and /dev/null differ diff --git a/public/samples/s0012_da30fafe_r_135/sample.json b/public/samples/s0012_da30fafe_r_135/sample.json deleted file mode 100644 index ab752ef2e2fbff6d747286d7f5c8396e164ddec2..0000000000000000000000000000000000000000 --- a/public/samples/s0012_da30fafe_r_135/sample.json +++ /dev/null @@ -1,2154 +0,0 @@ -{ - "id": "s0012_da30fafe_r_135", - "task": "place_and_organize_the_shoes_in_the_shoe_cabinet", - "side": "right", - "fps": 30, - "inputs": { - "history_frames": [ - 15, - 30 - ], - "files": { - "top_t": "top_t.jpg", - "left_t": "left_t.jpg", - "right_t": "right_t.jpg", - "top_t-15": "top_t-15.jpg", - "left_t-15": "left_t-15.jpg", - "right_t-15": "right_t-15.jpg", - "top_t-30": "top_t-30.jpg", - "left_t-30": "left_t-30.jpg", - "right_t-30": "right_t-30.jpg" - }, - "overlay": "overlay_t.jpg", - "horizon": 120, - "freeze_frame": 22, - "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on", - "actions": [ - [ - -0.20402, - 0.44946, - 0.73784, - -0.33594, - -0.0537, - -0.23777, - 0.99779, - 1.06764, - 0.93886, - 0.63205, - -0.69339, - 0.45252, - 1.07224, - 0.52225 - ], - [ - -0.20402, - 0.44946, - 0.73633, - -0.33442, - 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By the time the jaws shut, the gripper site has moved +3.0 cm forward, +4.2 cm to the robot's left and +3.2 cm up from where it is now (path length 11.7 cm); in the top camera that is -20 px right and -20 px down. Gripper command: now 0.52 open; starts closing at +0.10 s and is shut (0.01) at +0.73 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4342, - -0.1312, - 0.8715 - ], - "grasp_site_now_uv": [ - 383.4, - 293.8 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4641, - -0.0889, - 0.9036 - ], - "grasp_site_at_shut_uv": [ - 363.6, - 274.1 - ], - "shut_in_top_view": true, - "close_onset_frame": 3, - "close_done_frame": 22, - "path_len_cm": 11.7, - "path_uv_every_3_frames": [ - [ - 386.1, - 295.0 - ], - [ - 385.7, - 295.7 - ], - [ - 384.0, - 297.9 - ], - [ - 381.2, - 300.3 - ], - [ - 377.2, - 296.2 - ], - [ - 375.4, - 291.4 - ], - [ - 370.4, - 282.6 - ], - [ - 367.1, - 278.0 - ], - [ - 363.6, - 274.1 - ], - [ - 363.6, - 274.1 - ], - [ - 363.6, - 274.1 - ], - [ - 363.6, - 274.1 - ], - [ - 363.6, - 274.1 - ], - [ - 363.6, - 274.1 - ], - [ - 363.6, - 274.1 - ], - [ - 363.6, - 274.1 - ], - [ - 363.6, - 274.1 - ], - [ - 363.6, - 274.1 - ], - [ - 363.6, - 274.1 - 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"id": "s0013_60f44a8d_r_1311", - "task": "fold_and_stack_the_trousers", - "side": "right", - "fps": 30, - "inputs": { - "history_frames": [ - 15, - 30 - ], - "files": { - "top_t": "top_t.jpg", - "left_t": "left_t.jpg", - "right_t": "right_t.jpg", - "top_t-15": "top_t-15.jpg", - "left_t-15": "left_t-15.jpg", - "right_t-15": "right_t-15.jpg", - "top_t-30": "top_t-30.jpg", - "left_t-30": "left_t-30.jpg", - "right_t-30": "right_t-30.jpg" - }, - "overlay": "overlay_t.jpg", - "horizon": 120, - "freeze_frame": 37, - "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on", - "actions": [ - [ - -0.60599, - 1.29237, - 0.7448, - -0.57035, - 0.02627, - -0.67335, - 0.79584, - -0.10582, - 1.49695, - 0.82852, - -0.68109, - -0.33459, - 0.7359, - 0.57881 - ], - [ - -0.60604, - 1.30011, - 0.74398, - -0.57788, - 0.02379, - -0.67342, - 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By the time the jaws shut, the gripper site has moved +1.0 cm forward, -1.8 cm to the robot's left and -0.2 cm up from where it is now (path length 6.3 cm); in the top camera that is +6 px right and -3 px down. Gripper command: now 0.58 open; starts closing at +0.00 s and is shut (0.00) at +1.23 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5425, - -0.2919, - 0.7898 - ], - "grasp_site_now_uv": [ - 433.6, - 265.5 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5522, - -0.3096, - 0.7879 - ], - "grasp_site_at_shut_uv": [ - 439.5, - 262.6 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 37, - "path_len_cm": 6.3, - "path_uv_every_3_frames": [ - [ - 431.2, - 266.3 - ], - [ - 431.3, - 268.1 - ], - [ - 433.1, - 268.5 - ], - [ - 434.1, - 267.5 - ], - [ - 435.1, - 265.9 - ], - [ - 436.0, - 265.3 - ], - [ - 436.3, - 265.6 - ], - [ - 436.5, - 266.9 - ], - [ - 437.5, - 267.6 - ], - [ - 437.9, - 267.3 - ], - [ - 438.2, - 266.0 - ], - [ - 438.8, - 264.8 - ], - [ - 439.6, - 263.1 - ], - [ - 439.5, - 262.6 - ], - [ - 439.5, - 262.6 - ], - [ - 439.5, - 262.6 - ], - [ - 439.5, - 262.6 - ], - [ - 439.5, - 262.6 - ], - [ - 439.5, - 262.6 - 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By the time the jaws shut, the gripper site has moved -0.9 cm forward, +16.2 cm to the robot's left and +4.2 cm up from where it is now (path length 17.3 cm); in the top camera that is -97 px right and -12 px down. Gripper command: now 0.65 open; starts closing at +1.27 s and is shut (0.00) at +1.90 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5318, - -0.1659, - 1.1262 - ], - "grasp_site_now_uv": [ - 421.3, - 190.3 - ], - "grasp_site_at_shut_xyz_m": [ - 0.523, - -0.0035, - 1.1686 - ], - "grasp_site_at_shut_uv": [ - 324.0, - 178.1 - ], - "shut_in_top_view": true, - "close_onset_frame": 38, - "close_done_frame": 57, - "path_len_cm": 17.3, - "path_uv_every_3_frames": [ - [ - 423.5, - 181.7 - ], - [ - 418.0, - 181.9 - ], - [ - 410.5, - 182.7 - ], - [ - 402.8, - 182.8 - ], - [ - 397.4, - 180.0 - ], - [ - 390.3, - 179.3 - ], - [ - 381.7, - 178.3 - ], - [ - 373.8, - 175.8 - ], - [ - 365.5, - 174.1 - ], - [ - 357.4, - 173.9 - ], - [ - 351.6, - 174.4 - ], - [ - 346.6, - 174.2 - ], - [ - 343.6, - 174.4 - ], - [ - 338.6, - 174.9 - ], - [ - 334.6, - 175.0 - ], - [ - 330.4, - 175.5 - ], - [ - 326.3, - 176.6 - ], - [ - 324.6, - 177.9 - ], - [ - 323.4, - 178.9 - 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By the time the jaws shut, the gripper site has moved -3.1 cm forward, -6.3 cm to the robot's left and -4.9 cm up from where it is now (path length 14.9 cm); in the top camera that is +108 px right and +73 px down. Gripper command: now 0.75 open; starts closing at +0.27 s and is shut (0.00) at +1.93 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4072, - -0.2274, - 0.9176 - ], - "grasp_site_now_uv": [ - 485.3, - 317.9 - ], - "grasp_site_at_shut_xyz_m": [ - 0.3762, - -0.2905, - 0.8682 - ], - "grasp_site_at_shut_uv": [ - 592.9, - 390.5 - ], - "shut_in_top_view": true, - "close_onset_frame": 8, - "close_done_frame": 58, - "path_len_cm": 14.9, - "path_uv_every_3_frames": [ - [ - 476.7, - 319.3 - ], - [ - 480.1, - 321.0 - ], - [ - 490.5, - 327.0 - ], - [ - 507.0, - 337.8 - ], - [ - 523.7, - 350.2 - ], - [ - 537.3, - 361.7 - ], - [ - 550.9, - 377.3 - ], - [ - 565.0, - 392.0 - ], - [ - 578.8, - 402.9 - ], - [ - 592.4, - 409.5 - ], - [ - 598.6, - 409.9 - ], - [ - 597.2, - 406.6 - ], - [ - 596.0, - 405.4 - ], - [ - 598.4, - 404.8 - ], - [ - 600.0, - 403.0 - ], - [ - 600.2, - 400.1 - ], - [ - 599.2, - 396.8 - ], - [ - 597.6, - 393.9 - ], - [ - 595.2, - 392.0 - ], - [ - 594.0, - 391.2 - ], - [ - 592.9, - 390.5 - ], - [ - 592.9, - 390.5 - ], - [ - 592.9, - 390.5 - ], - [ - 592.9, - 390.5 - ], - [ - 592.9, - 390.5 - ], - [ - 592.9, - 390.5 - ], - [ - 592.9, - 390.5 - ], - [ - 592.9, - 390.5 - ], - [ - 592.9, - 390.5 - ], - [ - 592.9, - 390.5 - ], - [ - 592.9, - 390.5 - ], - [ - 592.9, - 390.5 - ], - [ - 592.9, - 390.5 - ], - [ - 592.9, - 390.5 - ], - [ - 592.9, - 390.5 - ], - [ - 592.9, - 390.5 - ], - [ - 592.9, - 390.5 - ], - [ - 592.9, - 390.5 - ], - [ - 592.9, - 390.5 - ], - [ - 592.9, - 390.5 - ] - ], - "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml" - } - } -} \ No newline at end of file diff --git a/public/samples/s0015_9bd892f2_l_2676/top_t-15.jpg b/public/samples/s0015_9bd892f2_l_2676/top_t-15.jpg deleted file mode 100644 index 748d1767cdc4df1da706afb4500ac1d52806d069..0000000000000000000000000000000000000000 Binary files a/public/samples/s0015_9bd892f2_l_2676/top_t-15.jpg and /dev/null differ diff --git a/public/samples/s0015_9bd892f2_l_2676/top_t-30.jpg b/public/samples/s0015_9bd892f2_l_2676/top_t-30.jpg deleted file mode 100644 index dba31c6d0690200b6ce51b723014de8cff0264cb..0000000000000000000000000000000000000000 Binary files a/public/samples/s0015_9bd892f2_l_2676/top_t-30.jpg and /dev/null differ diff --git a/public/samples/s0015_9bd892f2_l_2676/top_t.jpg b/public/samples/s0015_9bd892f2_l_2676/top_t.jpg deleted file mode 100644 index 6206252f83c7a8adcb94b5109f292a97c6a0d0e7..0000000000000000000000000000000000000000 Binary files a/public/samples/s0015_9bd892f2_l_2676/top_t.jpg and /dev/null differ diff --git a/public/samples/s0016_72caa26c_r_1586/left_t-15.jpg b/public/samples/s0016_72caa26c_r_1586/left_t-15.jpg deleted file mode 100644 index 2f27bdaf05148a228b93207d6d16a403ea83b976..0000000000000000000000000000000000000000 Binary files a/public/samples/s0016_72caa26c_r_1586/left_t-15.jpg and /dev/null differ diff --git a/public/samples/s0016_72caa26c_r_1586/left_t-30.jpg b/public/samples/s0016_72caa26c_r_1586/left_t-30.jpg deleted file mode 100644 index fbf9e869f1a1a42da7398911048ea0a084ecf6c6..0000000000000000000000000000000000000000 Binary files a/public/samples/s0016_72caa26c_r_1586/left_t-30.jpg and /dev/null differ diff --git a/public/samples/s0016_72caa26c_r_1586/left_t.jpg b/public/samples/s0016_72caa26c_r_1586/left_t.jpg deleted file mode 100644 index 0fb1aa108868c9cb6f756d6ecf0c5e46e489b713..0000000000000000000000000000000000000000 Binary files a/public/samples/s0016_72caa26c_r_1586/left_t.jpg and /dev/null differ diff --git a/public/samples/s0016_72caa26c_r_1586/overlay_t.jpg b/public/samples/s0016_72caa26c_r_1586/overlay_t.jpg deleted file mode 100644 index f1efa3b8a40a2c511b078e035672b29acbf80440..0000000000000000000000000000000000000000 Binary files a/public/samples/s0016_72caa26c_r_1586/overlay_t.jpg and /dev/null differ diff --git a/public/samples/s0016_72caa26c_r_1586/right_t-15.jpg b/public/samples/s0016_72caa26c_r_1586/right_t-15.jpg deleted file mode 100644 index efc8b200ec1ad684530b6c9ff434a9f5efaae259..0000000000000000000000000000000000000000 Binary files a/public/samples/s0016_72caa26c_r_1586/right_t-15.jpg and /dev/null differ diff --git a/public/samples/s0016_72caa26c_r_1586/right_t-30.jpg b/public/samples/s0016_72caa26c_r_1586/right_t-30.jpg deleted file mode 100644 index 377288579bf7990c7de8252781e3648bca10beb8..0000000000000000000000000000000000000000 Binary files a/public/samples/s0016_72caa26c_r_1586/right_t-30.jpg and /dev/null differ diff --git a/public/samples/s0016_72caa26c_r_1586/right_t.jpg b/public/samples/s0016_72caa26c_r_1586/right_t.jpg deleted file mode 100644 index 89cbca6e2aefb7efe8bc4eede5ea780b4645c780..0000000000000000000000000000000000000000 Binary files a/public/samples/s0016_72caa26c_r_1586/right_t.jpg and /dev/null differ diff --git a/public/samples/s0016_72caa26c_r_1586/sample.json b/public/samples/s0016_72caa26c_r_1586/sample.json deleted file mode 100644 index c075e1142441e34fe2f833af8a103f125ded467a..0000000000000000000000000000000000000000 --- a/public/samples/s0016_72caa26c_r_1586/sample.json +++ /dev/null @@ -1,2154 +0,0 @@ -{ - 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By the time the jaws shut, the gripper site has moved -1.4 cm forward, +2.9 cm to the robot's left and -4.7 cm up from where it is now (path length 18.3 cm); in the top camera that is -13 px right and +15 px down. Gripper command: now 1.00 open; starts closing at +0.00 s and is shut (0.44) at +2.03 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5551, - -0.1117, - 0.9118 - ], - "grasp_site_now_uv": [ - 371.0, - 233.0 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5412, - -0.0831, - 0.8653 - ], - "grasp_site_at_shut_uv": [ - 357.6, - 247.6 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 61, - "path_len_cm": 18.3, - "path_uv_every_3_frames": [ - [ - 365.0, - 235.5 - ], - [ - 361.3, - 236.7 - ], - [ - 360.0, - 238.0 - ], - [ - 360.8, - 238.6 - ], - [ - 361.4, - 239.2 - ], - [ - 360.0, - 240.1 - ], - [ - 358.1, - 241.8 - ], - [ - 355.9, - 244.1 - ], - [ - 354.9, - 245.7 - ], - [ - 354.4, - 246.9 - ], - [ - 354.6, - 247.9 - ], - [ - 354.6, - 249.5 - ], - [ - 354.9, - 250.5 - ], - [ - 355.2, - 251.1 - ], - [ - 355.3, - 251.4 - ], - [ - 355.1, - 251.1 - ], - [ - 354.9, - 250.3 - ], - [ - 355.4, - 249.4 - ], - [ - 356.4, - 248.7 - 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0.74216, - 0.47589, - 0.1112, - -0.32979, - 0.99478, - 0.53731, - 1.22969, - 0.75055, - 0.27829, - 0.11463, - 0.4263, - 0.79609 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +3.3 cm forward, -3.2 cm to the robot's left and +3.1 cm up from where it is now (path length 5.9 cm); in the top camera that is +17 px right and -25 px down. Gripper command: now 1.00 open; starts closing at +0.13 s and is shut (0.02) at +0.63 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.6184, - 0.1681, - 1.0983 - ], - "grasp_site_now_uv": [ - 228.2, - 152.1 - ], - "grasp_site_at_shut_xyz_m": [ - 0.6513, - 0.1359, - 1.1291 - ], - "grasp_site_at_shut_uv": [ - 244.8, - 126.8 - ], - "shut_in_top_view": true, - "close_onset_frame": 4, - "close_done_frame": 19, - "path_len_cm": 5.9, - "path_uv_every_3_frames": [ - [ - 230.0, - 134.0 - ], - [ - 235.4, - 130.1 - ], - [ - 237.6, - 127.2 - ], - [ - 242.0, - 125.1 - ], - [ - 245.1, - 125.1 - ], - [ - 246.1, - 126.5 - ], - [ - 245.3, - 126.8 - ], - [ - 244.8, - 126.8 - ], - [ - 244.8, - 126.8 - ], - [ - 244.8, - 126.8 - ], - [ - 244.8, - 126.8 - ], - [ - 244.8, - 126.8 - ], - [ - 244.8, - 126.8 - ], - [ - 244.8, - 126.8 - ], - [ - 244.8, - 126.8 - ], - [ - 244.8, - 126.8 - ], - [ - 244.8, - 126.8 - ], - [ - 244.8, - 126.8 - ], - [ - 244.8, - 126.8 - ], - [ - 244.8, - 126.8 - ], - [ - 244.8, - 126.8 - ], - [ - 244.8, - 126.8 - ], - [ - 244.8, - 126.8 - ], - [ - 244.8, - 126.8 - ], - [ - 244.8, - 126.8 - ], - [ - 244.8, - 126.8 - ], - [ - 244.8, - 126.8 - ], - [ - 244.8, - 126.8 - ], - [ - 244.8, - 126.8 - ], - [ - 244.8, - 126.8 - ], - [ - 244.8, - 126.8 - ], - [ - 244.8, - 126.8 - ], - [ - 244.8, - 126.8 - ], - [ - 244.8, - 126.8 - ], - [ - 244.8, - 126.8 - ], - [ - 244.8, - 126.8 - ], - [ - 244.8, - 126.8 - ], - [ - 244.8, - 126.8 - ], - [ - 244.8, - 126.8 - ], - [ - 244.8, - 126.8 - ] - ], - "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml" - } - } -} \ No newline at end of file diff --git a/public/samples/s0017_3e3ef71b_l_963/top_t-15.jpg b/public/samples/s0017_3e3ef71b_l_963/top_t-15.jpg deleted file mode 100644 index 8f07df7ad605f5e9413a950982aa4f2863c4098d..0000000000000000000000000000000000000000 Binary files a/public/samples/s0017_3e3ef71b_l_963/top_t-15.jpg and /dev/null differ diff --git a/public/samples/s0017_3e3ef71b_l_963/top_t-30.jpg b/public/samples/s0017_3e3ef71b_l_963/top_t-30.jpg deleted file mode 100644 index 7d7d8064784a7bdcea22a29354b69fc242157fe3..0000000000000000000000000000000000000000 Binary files a/public/samples/s0017_3e3ef71b_l_963/top_t-30.jpg and /dev/null differ diff --git a/public/samples/s0017_3e3ef71b_l_963/top_t.jpg b/public/samples/s0017_3e3ef71b_l_963/top_t.jpg deleted file mode 100644 index ee6e0511ffb9ea76e6d21633ea702f9b756462dc..0000000000000000000000000000000000000000 Binary files a/public/samples/s0017_3e3ef71b_l_963/top_t.jpg and /dev/null differ diff --git a/public/samples/s0018_9fb361dd_l_1215/left_t-15.jpg b/public/samples/s0018_9fb361dd_l_1215/left_t-15.jpg deleted file mode 100644 index 60312f23d1580cde14aa5f942e924a99eb24012e..0000000000000000000000000000000000000000 Binary files a/public/samples/s0018_9fb361dd_l_1215/left_t-15.jpg and /dev/null differ diff --git a/public/samples/s0018_9fb361dd_l_1215/left_t-30.jpg b/public/samples/s0018_9fb361dd_l_1215/left_t-30.jpg deleted file mode 100644 index 513ffb77ba836632acb2cf916d1ece479989800a..0000000000000000000000000000000000000000 Binary files a/public/samples/s0018_9fb361dd_l_1215/left_t-30.jpg and /dev/null differ diff --git a/public/samples/s0018_9fb361dd_l_1215/left_t.jpg b/public/samples/s0018_9fb361dd_l_1215/left_t.jpg deleted file mode 100644 index 1070644b97a60c14c4276999ec68a846259cb6d6..0000000000000000000000000000000000000000 Binary files a/public/samples/s0018_9fb361dd_l_1215/left_t.jpg and /dev/null differ diff --git a/public/samples/s0018_9fb361dd_l_1215/overlay_t.jpg b/public/samples/s0018_9fb361dd_l_1215/overlay_t.jpg deleted file mode 100644 index 1f8356d2b0584e53c290820ad26f6d34af3d854c..0000000000000000000000000000000000000000 Binary files a/public/samples/s0018_9fb361dd_l_1215/overlay_t.jpg and /dev/null differ diff --git a/public/samples/s0018_9fb361dd_l_1215/right_t-15.jpg b/public/samples/s0018_9fb361dd_l_1215/right_t-15.jpg deleted file mode 100644 index c254a2414117da66f9f587c0fb535e93a8148294..0000000000000000000000000000000000000000 Binary files a/public/samples/s0018_9fb361dd_l_1215/right_t-15.jpg and /dev/null differ diff --git a/public/samples/s0018_9fb361dd_l_1215/right_t-30.jpg b/public/samples/s0018_9fb361dd_l_1215/right_t-30.jpg deleted file mode 100644 index 9d18df23687a00052fad39eb826d84c04bdae6f1..0000000000000000000000000000000000000000 Binary files a/public/samples/s0018_9fb361dd_l_1215/right_t-30.jpg and /dev/null differ diff --git a/public/samples/s0018_9fb361dd_l_1215/right_t.jpg b/public/samples/s0018_9fb361dd_l_1215/right_t.jpg deleted file mode 100644 index e26c2c5db054e38b54c7c8799211b57c0dbca1f5..0000000000000000000000000000000000000000 Binary files a/public/samples/s0018_9fb361dd_l_1215/right_t.jpg and /dev/null differ diff --git a/public/samples/s0018_9fb361dd_l_1215/sample.json b/public/samples/s0018_9fb361dd_l_1215/sample.json deleted file mode 100644 index d87e505fdd1779f22bccd0902021a79663bb3144..0000000000000000000000000000000000000000 --- a/public/samples/s0018_9fb361dd_l_1215/sample.json +++ /dev/null @@ -1,2154 +0,0 @@ -{ - 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2.08936, - 1.66445, - 0.41878, - -0.02769, - -0.44484, - 0.0, - 0.45561, - 1.00476, - 1.46342, - -0.61052, - 0.30066, - 0.54303, - 0.17592 - ], - [ - -1.08913, - 2.08936, - 1.66445, - 0.41878, - -0.02769, - -0.44484, - 0.0, - 0.45561, - 1.00476, - 1.46342, - -0.61052, - 0.30066, - 0.54303, - 0.17592 - ] - ], - "state_t": [ - -0.99241, - 1.52075, - 1.0523, - -0.33551, - -0.27485, - -0.67998, - 0.6354, - 0.45682, - 1.01453, - 1.42462, - -0.72957, - 0.35725, - 0.34504, - 0.30113 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +3.5 cm forward, -24.3 cm to the robot's left and +14.6 cm up from where it is now (path length 34.8 cm); in the top camera that is +131 px right and -54 px down. Gripper command: now 0.70 open; starts closing at +1.33 s and is shut (0.00) at +2.03 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5193, - -0.0143, - 0.8995 - ], - "grasp_site_now_uv": [ - 322.3, - 254.4 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5544, - -0.2574, - 1.0455 - ], - "grasp_site_at_shut_uv": [ - 453.8, - 200.6 - ], - "shut_in_top_view": true, - "close_onset_frame": 40, - "close_done_frame": 61, - "path_len_cm": 34.8, - "path_uv_every_3_frames": [ - [ - 328.2, - 223.5 - ], - [ - 339.6, - 215.9 - ], - [ - 352.6, - 213.3 - ], - [ - 366.1, - 213.2 - ], - [ - 383.0, - 214.6 - ], - [ - 396.3, - 215.2 - ], - [ - 407.8, - 212.7 - ], - [ - 418.6, - 210.3 - ], - [ - 426.2, - 208.9 - ], - [ - 433.6, - 204.8 - ], - [ - 439.8, - 206.0 - ], - [ - 444.8, - 206.4 - ], - [ - 449.0, - 206.7 - ], - [ - 452.1, - 205.5 - ], - [ - 455.1, - 204.8 - ], - [ - 455.7, - 203.3 - ], - [ - 456.4, - 204.1 - ], - [ - 456.1, - 203.7 - ], - [ - 456.4, - 202.4 - ], - [ - 455.6, - 201.1 - ], - [ - 454.0, - 200.1 - ], - [ - 453.8, - 200.6 - ], - [ - 453.8, - 200.6 - ], - [ - 453.8, - 200.6 - ], - [ - 453.8, - 200.6 - ], - [ - 453.8, - 200.6 - ], - [ - 453.8, - 200.6 - ], - [ - 453.8, - 200.6 - ], - [ - 453.8, - 200.6 - ], - [ - 453.8, - 200.6 - ], - [ - 453.8, - 200.6 - ], - [ - 453.8, - 200.6 - ], - [ - 453.8, - 200.6 - ], - [ - 453.8, - 200.6 - ], - [ - 453.8, - 200.6 - ], - [ - 453.8, - 200.6 - ], - [ - 453.8, - 200.6 - ], - [ - 453.8, - 200.6 - ], - [ - 453.8, - 200.6 - ], - [ - 453.8, - 200.6 - ] - ], - "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml" - } - } -} \ No newline at end of file diff --git a/public/samples/s0018_9fb361dd_l_1215/top_t-15.jpg b/public/samples/s0018_9fb361dd_l_1215/top_t-15.jpg deleted file mode 100644 index 9d56c53d9b2a526912e6e27b0a987272456847bc..0000000000000000000000000000000000000000 Binary files a/public/samples/s0018_9fb361dd_l_1215/top_t-15.jpg and /dev/null differ diff --git a/public/samples/s0018_9fb361dd_l_1215/top_t-30.jpg b/public/samples/s0018_9fb361dd_l_1215/top_t-30.jpg deleted file mode 100644 index 0f2df19e356d3619780083bad3c1d2cdda751450..0000000000000000000000000000000000000000 Binary files a/public/samples/s0018_9fb361dd_l_1215/top_t-30.jpg and /dev/null differ diff --git a/public/samples/s0018_9fb361dd_l_1215/top_t.jpg b/public/samples/s0018_9fb361dd_l_1215/top_t.jpg deleted file mode 100644 index e8da882273c5091c589635ccd0a09d18c27e7a86..0000000000000000000000000000000000000000 Binary files a/public/samples/s0018_9fb361dd_l_1215/top_t.jpg and /dev/null differ diff --git a/public/samples/s0019_02801c08_r_1715/left_t-15.jpg b/public/samples/s0019_02801c08_r_1715/left_t-15.jpg deleted file mode 100644 index 284c87b00f03657e14dae846a6b2563bc4d178a7..0000000000000000000000000000000000000000 Binary files a/public/samples/s0019_02801c08_r_1715/left_t-15.jpg and /dev/null differ diff --git a/public/samples/s0019_02801c08_r_1715/left_t-30.jpg b/public/samples/s0019_02801c08_r_1715/left_t-30.jpg deleted file mode 100644 index 5594a87c83f0578b911a16f52f749bc754e080fc..0000000000000000000000000000000000000000 Binary files a/public/samples/s0019_02801c08_r_1715/left_t-30.jpg and /dev/null differ diff --git a/public/samples/s0019_02801c08_r_1715/left_t.jpg b/public/samples/s0019_02801c08_r_1715/left_t.jpg deleted file mode 100644 index d3745a81dd57f62f9d2133034afc4ba35b4d9b8c..0000000000000000000000000000000000000000 Binary files a/public/samples/s0019_02801c08_r_1715/left_t.jpg and /dev/null differ diff --git a/public/samples/s0019_02801c08_r_1715/overlay_t.jpg b/public/samples/s0019_02801c08_r_1715/overlay_t.jpg deleted file mode 100644 index 6515ecf52812bc3d49c5fbfd61fcd9d96d0514f6..0000000000000000000000000000000000000000 Binary files a/public/samples/s0019_02801c08_r_1715/overlay_t.jpg and /dev/null differ diff --git a/public/samples/s0019_02801c08_r_1715/right_t-15.jpg b/public/samples/s0019_02801c08_r_1715/right_t-15.jpg deleted file mode 100644 index a2d7169bf8bc5b53aefd97b987c585b209b59aea..0000000000000000000000000000000000000000 Binary files a/public/samples/s0019_02801c08_r_1715/right_t-15.jpg and /dev/null differ diff --git a/public/samples/s0019_02801c08_r_1715/right_t-30.jpg b/public/samples/s0019_02801c08_r_1715/right_t-30.jpg deleted file mode 100644 index 840374b1a9d379fc244fc1fe2a9a0e8aeac559e6..0000000000000000000000000000000000000000 Binary files a/public/samples/s0019_02801c08_r_1715/right_t-30.jpg and /dev/null differ diff --git a/public/samples/s0019_02801c08_r_1715/right_t.jpg b/public/samples/s0019_02801c08_r_1715/right_t.jpg deleted file mode 100644 index 62123c74d91531bf8686d82b51a9a29d3503eaef..0000000000000000000000000000000000000000 Binary files a/public/samples/s0019_02801c08_r_1715/right_t.jpg and /dev/null differ diff --git a/public/samples/s0019_02801c08_r_1715/sample.json b/public/samples/s0019_02801c08_r_1715/sample.json deleted file mode 100644 index 6fa45543231fca225137d1d6092fbd2a012f5786..0000000000000000000000000000000000000000 --- a/public/samples/s0019_02801c08_r_1715/sample.json +++ /dev/null @@ -1,2154 +0,0 @@ -{ - 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By the time the jaws shut, the gripper site has moved -5.1 cm forward, +5.2 cm to the robot's left and +6.9 cm up from where it is now (path length 7.3 cm); in the top camera that is -19 px right and +5 px down. Gripper command: now 0.77 open; starts closing at +0.00 s and is shut (0.19) at +0.97 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4862, - -0.1939, - 1.0348 - ], - "grasp_site_now_uv": [ - 533.5, - 236.3 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4355, - -0.1421, - 1.1041 - ], - "grasp_site_at_shut_uv": [ - 514.6, - 241.3 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 29, - "path_len_cm": 7.3, - "path_uv_every_3_frames": [ - [ - 524.7, - 254.2 - ], - [ - 522.8, - 246.8 - ], - [ - 520.9, - 241.4 - ], - [ - 518.3, - 241.8 - ], - [ - 514.5, - 243.9 - ], - [ - 513.6, - 244.2 - ], - [ - 513.2, - 244.8 - ], - [ - 513.4, - 243.8 - ], - [ - 513.7, - 242.5 - ], - [ - 514.2, - 241.9 - ], - [ - 514.6, - 241.3 - ], - [ - 514.6, - 241.3 - ], - [ - 514.6, - 241.3 - ], - [ - 514.6, - 241.3 - ], - [ - 514.6, - 241.3 - ], - [ - 514.6, - 241.3 - ], - [ - 514.6, - 241.3 - ], - [ - 514.6, - 241.3 - ], - [ - 514.6, - 241.3 - 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By the time the jaws shut, the gripper site has moved -2.0 cm forward, -11.5 cm to the robot's left and -10.9 cm up from where it is now (path length 49.6 cm); in the top camera that is +49 px right and +25 px down. Gripper command: now 0.95 open; starts closing at +1.03 s and is shut (0.00) at +2.77 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.465, - 0.1001, - 0.8743 - ], - "grasp_site_now_uv": [ - 275.3, - 278.0 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4447, - -0.0148, - 0.7652 - ], - "grasp_site_at_shut_uv": [ - 324.3, - 303.2 - ], - "shut_in_top_view": true, - "close_onset_frame": 31, - "close_done_frame": 83, - "path_len_cm": 49.6, - "path_uv_every_3_frames": [ - [ - 293.6, - 267.3 - ], - [ - 307.8, - 268.4 - ], - [ - 317.5, - 269.4 - ], - [ - 322.9, - 265.3 - ], - [ - 326.2, - 259.6 - ], - [ - 327.1, - 252.7 - ], - [ - 322.9, - 246.5 - ], - [ - 315.4, - 241.2 - ], - [ - 314.1, - 243.7 - ], - [ - 314.5, - 247.3 - ], - [ - 313.8, - 253.1 - ], - [ - 313.2, - 262.1 - ], - [ - 314.1, - 275.5 - ], - [ - 314.8, - 288.5 - ], - [ - 313.8, - 300.3 - ], - [ - 315.5, - 307.4 - ], - [ - 316.1, - 312.6 - ], - [ - 317.4, - 315.2 - ], - [ - 319.8, - 316.0 - ], - [ - 321.4, - 314.2 - ], - [ - 320.4, - 312.4 - ], - [ - 321.8, - 310.2 - ], - [ - 322.8, - 308.6 - ], - [ - 324.4, - 306.9 - ], - [ - 324.4, - 305.9 - ], - [ - 323.1, - 305.0 - ], - [ - 324.5, - 303.6 - ], - [ - 324.5, - 302.8 - ], - [ - 324.3, - 303.2 - ], - [ - 324.3, - 303.2 - ], - [ - 324.3, - 303.2 - ], - [ - 324.3, - 303.2 - ], - [ - 324.3, - 303.2 - ], - [ - 324.3, - 303.2 - ], - [ - 324.3, - 303.2 - ], - [ - 324.3, - 303.2 - ], - [ - 324.3, - 303.2 - ], - [ - 324.3, - 303.2 - ], - [ - 324.3, - 303.2 - ], - [ - 324.3, - 303.2 - ] - ], - "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml" - } - } -} \ No newline at end of file diff --git a/public/samples/s0020_4b894d76_l_144/top_t-15.jpg b/public/samples/s0020_4b894d76_l_144/top_t-15.jpg deleted file mode 100644 index 5d40bc190f13f42341a6f10053a7a7d463f5453d..0000000000000000000000000000000000000000 Binary files a/public/samples/s0020_4b894d76_l_144/top_t-15.jpg and /dev/null differ diff --git a/public/samples/s0020_4b894d76_l_144/top_t-30.jpg b/public/samples/s0020_4b894d76_l_144/top_t-30.jpg deleted file mode 100644 index cd63d90457c27013f9aa764d6e142f252807648c..0000000000000000000000000000000000000000 Binary files a/public/samples/s0020_4b894d76_l_144/top_t-30.jpg and /dev/null differ diff --git a/public/samples/s0020_4b894d76_l_144/top_t.jpg b/public/samples/s0020_4b894d76_l_144/top_t.jpg deleted file mode 100644 index 042a972f3040222840c1a6e243a9781866d2c36b..0000000000000000000000000000000000000000 Binary files a/public/samples/s0020_4b894d76_l_144/top_t.jpg and /dev/null differ diff --git a/public/samples/s0021_4162fb80_l_1197/left_t-15.jpg b/public/samples/s0021_4162fb80_l_1197/left_t-15.jpg deleted file mode 100644 index af489a7323e1376c43d02e4242841224bdf869b7..0000000000000000000000000000000000000000 Binary files a/public/samples/s0021_4162fb80_l_1197/left_t-15.jpg and /dev/null differ diff --git a/public/samples/s0021_4162fb80_l_1197/left_t-30.jpg b/public/samples/s0021_4162fb80_l_1197/left_t-30.jpg deleted file mode 100644 index f5471c2eba5e482784accacf1f5ec23e8af637ae..0000000000000000000000000000000000000000 Binary files a/public/samples/s0021_4162fb80_l_1197/left_t-30.jpg and /dev/null differ diff --git a/public/samples/s0021_4162fb80_l_1197/left_t.jpg b/public/samples/s0021_4162fb80_l_1197/left_t.jpg deleted file mode 100644 index a5e6bdd8b5169f602e9117bc1b19517830740bd5..0000000000000000000000000000000000000000 Binary files a/public/samples/s0021_4162fb80_l_1197/left_t.jpg and /dev/null differ diff --git a/public/samples/s0021_4162fb80_l_1197/overlay_t.jpg b/public/samples/s0021_4162fb80_l_1197/overlay_t.jpg deleted file mode 100644 index 7652646d3d764053846fe6ac8fae01a2582d38db..0000000000000000000000000000000000000000 Binary files a/public/samples/s0021_4162fb80_l_1197/overlay_t.jpg and /dev/null differ diff --git a/public/samples/s0021_4162fb80_l_1197/right_t-15.jpg b/public/samples/s0021_4162fb80_l_1197/right_t-15.jpg deleted file mode 100644 index 1758de9710a4788c0a16771e98881ef7db7bac7e..0000000000000000000000000000000000000000 Binary files a/public/samples/s0021_4162fb80_l_1197/right_t-15.jpg and /dev/null differ diff --git a/public/samples/s0021_4162fb80_l_1197/right_t-30.jpg b/public/samples/s0021_4162fb80_l_1197/right_t-30.jpg deleted file mode 100644 index 6b7e581b325fb486763a154d05920d531bed1089..0000000000000000000000000000000000000000 Binary files a/public/samples/s0021_4162fb80_l_1197/right_t-30.jpg and /dev/null differ diff --git a/public/samples/s0021_4162fb80_l_1197/right_t.jpg b/public/samples/s0021_4162fb80_l_1197/right_t.jpg deleted file mode 100644 index 467fdcc8aba8a501273d7846e9df509f28ebc970..0000000000000000000000000000000000000000 Binary files a/public/samples/s0021_4162fb80_l_1197/right_t.jpg and /dev/null differ diff --git a/public/samples/s0021_4162fb80_l_1197/sample.json b/public/samples/s0021_4162fb80_l_1197/sample.json deleted file mode 100644 index e9d39ee8e75b819794c603641cf820a4ef05ed77..0000000000000000000000000000000000000000 --- a/public/samples/s0021_4162fb80_l_1197/sample.json +++ /dev/null @@ -1,2154 +0,0 @@ -{ - 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By the time the jaws shut, the gripper site has moved +1.4 cm forward, +2.1 cm to the robot's left and +0.6 cm up from where it is now (path length 11.0 cm); in the top camera that is -9 px right and -7 px down. Gripper command: now 1.00 open; starts closing at +0.13 s and is shut (0.02) at +0.73 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5947, - 0.3194, - 0.8983 - ], - "grasp_site_now_uv": [ - 175.4, - 221.4 - ], - "grasp_site_at_shut_xyz_m": [ - 0.6089, - 0.3406, - 0.9038 - ], - "grasp_site_at_shut_uv": [ - 166.2, - 214.6 - ], - "shut_in_top_view": true, - "close_onset_frame": 4, - "close_done_frame": 22, - "path_len_cm": 11.0, - "path_uv_every_3_frames": [ - [ - 178.0, - 212.7 - ], - [ - 180.0, - 215.6 - ], - [ - 182.5, - 218.8 - ], - [ - 182.9, - 220.3 - ], - [ - 182.6, - 221.5 - ], - [ - 181.1, - 221.7 - ], - [ - 176.3, - 217.8 - ], - [ - 169.6, - 216.7 - ], - [ - 166.2, - 214.6 - ], - [ - 166.2, - 214.6 - ], - [ - 166.2, - 214.6 - ], - [ - 166.2, - 214.6 - ], - [ - 166.2, - 214.6 - ], - [ - 166.2, - 214.6 - ], - [ - 166.2, - 214.6 - ], - [ - 166.2, - 214.6 - ], - [ - 166.2, - 214.6 - ], - [ - 166.2, - 214.6 - ], - [ - 166.2, - 214.6 - 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By the time the jaws shut, the gripper site has moved +0.7 cm forward, -0.6 cm to the robot's left and +2.1 cm up from where it is now (path length 5.3 cm); in the top camera that is +4 px right and -8 px down. Gripper command: now 1.00 open; starts closing at +0.07 s and is shut (0.56) at +0.47 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.6162, - -0.0975, - 0.9323 - ], - "grasp_site_now_uv": [ - 372.3, - 209.7 - ], - "grasp_site_at_shut_xyz_m": [ - 0.6235, - -0.1039, - 0.9528 - ], - "grasp_site_at_shut_uv": [ - 376.0, - 201.4 - ], - "shut_in_top_view": true, - "close_onset_frame": 2, - "close_done_frame": 14, - "path_len_cm": 5.3, - "path_uv_every_3_frames": [ - [ - 366.0, - 206.0 - ], - [ - 365.6, - 209.9 - ], - [ - 368.0, - 209.8 - ], - [ - 370.2, - 206.6 - ], - [ - 373.7, - 202.6 - ], - [ - 376.0, - 201.4 - ], - [ - 376.0, - 201.4 - ], - [ - 376.0, - 201.4 - ], - [ - 376.0, - 201.4 - ], - [ - 376.0, - 201.4 - ], - [ - 376.0, - 201.4 - ], - [ - 376.0, - 201.4 - ], - [ - 376.0, - 201.4 - ], - [ - 376.0, - 201.4 - ], - [ - 376.0, - 201.4 - ], - [ - 376.0, - 201.4 - ], - [ - 376.0, - 201.4 - ], - [ - 376.0, - 201.4 - ], - [ - 376.0, - 201.4 - 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], - [ - -0.40666, - 1.39028, - 0.83948, - -0.09547, - 0.31589, - -0.74166, - 0.66727, - 0.69829, - 1.65772, - 1.19719, - -0.49858, - 0.29277, - 0.64094, - 0.0 - ] - ], - "state_t": [ - -0.51404, - 1.49405, - 0.96914, - -0.27676, - 0.24128, - -0.57279, - 0.62574, - 0.70134, - 1.60735, - 1.21824, - -0.5415, - 0.18597, - 0.65938, - 0.65506 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +1.4 cm forward, -1.3 cm to the robot's left and -1.9 cm up from where it is now (path length 8.5 cm); in the top camera that is +5 px right and -1 px down. Gripper command: now 0.68 open; starts closing at +0.23 s and is shut (0.00) at +1.27 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.596, - -0.061, - 0.8971 - ], - "grasp_site_now_uv": [ - 342.4, - 225.3 - ], - "grasp_site_at_shut_xyz_m": [ - 0.6096, - -0.0743, - 0.878 - ], - "grasp_site_at_shut_uv": [ - 347.2, - 224.8 - ], - "shut_in_top_view": true, - "close_onset_frame": 7, - "close_done_frame": 38, - "path_len_cm": 8.5, - "path_uv_every_3_frames": [ - [ - 340.3, - 226.8 - ], - [ - 339.1, - 225.9 - ], - [ - 337.0, - 226.0 - ], - [ - 336.6, - 226.3 - ], - [ - 336.6, - 228.0 - ], - [ - 337.0, - 230.3 - ], - [ - 338.0, - 232.9 - ], - [ - 340.4, - 232.1 - ], - [ - 340.6, - 230.7 - ], - [ - 341.7, - 229.0 - ], - [ - 342.6, - 228.2 - ], - [ - 344.8, - 227.5 - ], - [ - 346.3, - 225.6 - ], - [ - 347.2, - 224.8 - ], - [ - 347.2, - 224.8 - ], - [ - 347.2, - 224.8 - ], - [ - 347.2, - 224.8 - ], - [ - 347.2, - 224.8 - ], - [ - 347.2, - 224.8 - ], - [ - 347.2, - 224.8 - ], - [ - 347.2, - 224.8 - ], - [ - 347.2, - 224.8 - ], - [ - 347.2, - 224.8 - ], - [ - 347.2, - 224.8 - ], - [ - 347.2, - 224.8 - ], - [ - 347.2, - 224.8 - ], - [ - 347.2, - 224.8 - ], - [ - 347.2, - 224.8 - ], - [ - 347.2, - 224.8 - ], - [ - 347.2, - 224.8 - ], - [ - 347.2, - 224.8 - ], - [ - 347.2, - 224.8 - ], - [ - 347.2, - 224.8 - ], - [ - 347.2, - 224.8 - ], - [ - 347.2, - 224.8 - ], - [ - 347.2, - 224.8 - ], - [ - 347.2, - 224.8 - ], - [ - 347.2, - 224.8 - ], - [ - 347.2, - 224.8 - ], - [ - 347.2, - 224.8 - ] - ], - "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml" - } - } -} \ No newline at end of file diff --git a/public/samples/s0023_9d438abd_r_2695/top_t-15.jpg b/public/samples/s0023_9d438abd_r_2695/top_t-15.jpg deleted file mode 100644 index ca5f30b1caae3eabd5f329a5c19b22228ae3992b..0000000000000000000000000000000000000000 Binary files a/public/samples/s0023_9d438abd_r_2695/top_t-15.jpg and /dev/null differ diff --git a/public/samples/s0023_9d438abd_r_2695/top_t-30.jpg b/public/samples/s0023_9d438abd_r_2695/top_t-30.jpg deleted file mode 100644 index d7689a20479563bc6378cd2b2e3f5a4c0d90adff..0000000000000000000000000000000000000000 Binary files a/public/samples/s0023_9d438abd_r_2695/top_t-30.jpg and /dev/null differ diff --git a/public/samples/s0023_9d438abd_r_2695/top_t.jpg b/public/samples/s0023_9d438abd_r_2695/top_t.jpg deleted file mode 100644 index 5cad42138be8933fdbfe700d4edbadadadbf0c1e..0000000000000000000000000000000000000000 Binary files a/public/samples/s0023_9d438abd_r_2695/top_t.jpg and /dev/null differ diff --git a/public/samples/s0024_def1f3a4_r_2411/left_t-15.jpg b/public/samples/s0024_def1f3a4_r_2411/left_t-15.jpg deleted file mode 100644 index bcee11fb2325bcc9977c88c2f24a5add27940010..0000000000000000000000000000000000000000 Binary files a/public/samples/s0024_def1f3a4_r_2411/left_t-15.jpg and /dev/null differ diff --git a/public/samples/s0024_def1f3a4_r_2411/left_t-30.jpg b/public/samples/s0024_def1f3a4_r_2411/left_t-30.jpg deleted file mode 100644 index afccb2ed4191e9f83c4c566aa40b4bb3469a828d..0000000000000000000000000000000000000000 Binary files a/public/samples/s0024_def1f3a4_r_2411/left_t-30.jpg and /dev/null differ diff --git a/public/samples/s0024_def1f3a4_r_2411/left_t.jpg b/public/samples/s0024_def1f3a4_r_2411/left_t.jpg deleted file mode 100644 index 7c5c75b2020f0e012b938e2429119f6e62ad85c7..0000000000000000000000000000000000000000 Binary files a/public/samples/s0024_def1f3a4_r_2411/left_t.jpg and /dev/null differ diff --git a/public/samples/s0024_def1f3a4_r_2411/overlay_t.jpg b/public/samples/s0024_def1f3a4_r_2411/overlay_t.jpg deleted file mode 100644 index 90db1ff7187e760fae9dae6ca17972cefc9f65ae..0000000000000000000000000000000000000000 Binary files a/public/samples/s0024_def1f3a4_r_2411/overlay_t.jpg and /dev/null differ diff --git a/public/samples/s0024_def1f3a4_r_2411/right_t-15.jpg b/public/samples/s0024_def1f3a4_r_2411/right_t-15.jpg deleted file mode 100644 index 2009d621f77429af061f777e3ba06be228d6baf2..0000000000000000000000000000000000000000 Binary files a/public/samples/s0024_def1f3a4_r_2411/right_t-15.jpg and /dev/null differ diff --git a/public/samples/s0024_def1f3a4_r_2411/right_t-30.jpg b/public/samples/s0024_def1f3a4_r_2411/right_t-30.jpg deleted file mode 100644 index fd8b9590c8eb143795d296361507193b85b8ae9d..0000000000000000000000000000000000000000 Binary files a/public/samples/s0024_def1f3a4_r_2411/right_t-30.jpg and /dev/null differ diff --git a/public/samples/s0024_def1f3a4_r_2411/right_t.jpg b/public/samples/s0024_def1f3a4_r_2411/right_t.jpg deleted file mode 100644 index d2b3487ae3093302a84cdf276ae0737a1cf146fd..0000000000000000000000000000000000000000 Binary files a/public/samples/s0024_def1f3a4_r_2411/right_t.jpg and /dev/null differ diff --git a/public/samples/s0024_def1f3a4_r_2411/sample.json b/public/samples/s0024_def1f3a4_r_2411/sample.json deleted file mode 100644 index ba0c7c50a02a734dcc519811d4daeab0f8118b8f..0000000000000000000000000000000000000000 --- a/public/samples/s0024_def1f3a4_r_2411/sample.json +++ /dev/null @@ -1,2154 +0,0 @@ -{ - 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By the time the jaws shut, the gripper site has moved -33.0 cm forward, -4.5 cm to the robot's left and -10.5 cm up from where it is now (path length 61.9 cm); in the top camera that is +20 px right and +132 px down. Gripper command: now 0.76 open; starts closing at +0.03 s and is shut (0.30) at +1.43 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.8196, - -0.0443, - 0.9464 - ], - "grasp_site_now_uv": [ - 339.4, - 145.3 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4899, - -0.0895, - 0.8416 - ], - "grasp_site_at_shut_uv": [ - 359.5, - 277.1 - ], - "shut_in_top_view": true, - "close_onset_frame": 1, - "close_done_frame": 43, - "path_len_cm": 61.9, - "path_uv_every_3_frames": [ - [ - 387.3, - 110.7 - ], - [ - 413.8, - 122.8 - ], - [ - 425.5, - 153.8 - ], - [ - 426.2, - 191.8 - ], - [ - 422.8, - 222.8 - ], - [ - 419.3, - 243.4 - ], - [ - 414.7, - 261.2 - ], - [ - 411.0, - 275.5 - ], - [ - 405.1, - 286.6 - ], - [ - 393.4, - 287.4 - ], - [ - 378.7, - 290.8 - ], - [ - 365.5, - 295.2 - ], - [ - 358.3, - 293.1 - ], - [ - 354.1, - 289.3 - ], - [ - 357.2, - 281.3 - ], - [ - 359.5, - 277.1 - ], - [ - 359.5, - 277.1 - ], - [ - 359.5, - 277.1 - ], - [ - 359.5, - 277.1 - 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By the time the jaws shut, the gripper site has moved +14.8 cm forward, -2.0 cm to the robot's left and +3.3 cm up from where it is now (path length 19.2 cm); in the top camera that is +12 px right and -62 px down. Gripper command: now 0.99 open; starts closing at +1.20 s and is shut (0.00) at +1.50 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5237, - 0.1445, - 0.9671 - ], - "grasp_site_now_uv": [ - 256.6, - 234.8 - ], - "grasp_site_at_shut_xyz_m": [ - 0.6716, - 0.124, - 0.9996 - ], - "grasp_site_at_shut_uv": [ - 268.8, - 172.5 - ], - "shut_in_top_view": true, - "close_onset_frame": 36, - "close_done_frame": 45, - "path_len_cm": 19.2, - "path_uv_every_3_frames": [ - [ - 242.1, - 210.0 - ], - [ - 244.2, - 202.4 - ], - [ - 243.1, - 192.5 - ], - [ - 243.9, - 184.3 - ], - [ - 249.0, - 176.9 - ], - [ - 257.3, - 174.8 - ], - [ - 264.4, - 175.1 - ], - [ - 268.4, - 177.0 - ], - [ - 269.0, - 176.9 - ], - [ - 268.8, - 176.2 - ], - [ - 268.1, - 175.4 - ], - [ - 267.6, - 174.3 - ], - [ - 267.4, - 173.1 - ], - [ - 267.0, - 171.2 - ], - [ - 268.1, - 171.2 - ], - [ - 268.8, - 172.5 - ], - [ - 268.8, - 172.5 - ], - [ - 268.8, - 172.5 - ], - [ - 268.8, - 172.5 - 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By the time the jaws shut, the gripper site has moved -0.7 cm forward, -13.1 cm to the robot's left and +1.9 cm up from where it is now (path length 17.3 cm); in the top camera that is +73 px right and -4 px down. Gripper command: now 1.00 open; starts closing at +1.03 s and is shut (0.48) at +2.10 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5705, - 0.0787, - 1.1702 - ], - "grasp_site_now_uv": [ - 281.6, - 162.9 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5635, - -0.0518, - 1.1889 - ], - "grasp_site_at_shut_uv": [ - 354.8, - 158.6 - ], - "shut_in_top_view": true, - "close_onset_frame": 31, - "close_done_frame": 63, - "path_len_cm": 17.3, - "path_uv_every_3_frames": [ - [ - 287.5, - 156.1 - ], - [ - 290.6, - 154.9 - ], - [ - 292.9, - 151.2 - ], - [ - 297.7, - 149.7 - ], - [ - 306.5, - 152.4 - ], - [ - 312.8, - 154.8 - ], - [ - 317.1, - 156.1 - ], - [ - 322.9, - 157.1 - ], - [ - 331.4, - 158.4 - ], - [ - 340.1, - 160.9 - ], - [ - 347.3, - 164.0 - ], - [ - 352.3, - 165.8 - ], - [ - 354.9, - 166.6 - ], - [ - 355.9, - 166.2 - ], - [ - 355.7, - 165.5 - ], - [ - 355.3, - 164.1 - ], - [ - 355.7, - 163.2 - ], - [ - 355.3, - 161.8 - ], - [ - 354.4, - 159.3 - ], - [ - 354.8, - 158.4 - ], - [ - 354.8, - 158.2 - ], - [ - 354.8, - 158.6 - ], - [ - 354.8, - 158.6 - ], - [ - 354.8, - 158.6 - ], - [ - 354.8, - 158.6 - ], - [ - 354.8, - 158.6 - ], - [ - 354.8, - 158.6 - ], - [ - 354.8, - 158.6 - ], - [ - 354.8, - 158.6 - ], - [ - 354.8, - 158.6 - ], - [ - 354.8, - 158.6 - ], - [ - 354.8, - 158.6 - ], - [ - 354.8, - 158.6 - ], - [ - 354.8, - 158.6 - ], - [ - 354.8, - 158.6 - ], - [ - 354.8, - 158.6 - ], - [ - 354.8, - 158.6 - ], - [ - 354.8, - 158.6 - ], - [ - 354.8, - 158.6 - ], - [ - 354.8, - 158.6 - ] - ], - "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml" - } - } -} \ No newline at end of file diff --git a/public/samples/s0026_a0479839_l_505/top_t-15.jpg b/public/samples/s0026_a0479839_l_505/top_t-15.jpg deleted file mode 100644 index 85140ae5be86e1d8e608d83d83eccc071b009dcd..0000000000000000000000000000000000000000 Binary files a/public/samples/s0026_a0479839_l_505/top_t-15.jpg and /dev/null differ diff --git a/public/samples/s0026_a0479839_l_505/top_t-30.jpg b/public/samples/s0026_a0479839_l_505/top_t-30.jpg deleted file mode 100644 index 37f51851c0fed2838016483ad7a58d5515deb069..0000000000000000000000000000000000000000 Binary files a/public/samples/s0026_a0479839_l_505/top_t-30.jpg and /dev/null differ diff --git a/public/samples/s0026_a0479839_l_505/top_t.jpg b/public/samples/s0026_a0479839_l_505/top_t.jpg deleted file mode 100644 index ca36e600bca26f378df0b1810df70008210e96f9..0000000000000000000000000000000000000000 Binary files a/public/samples/s0026_a0479839_l_505/top_t.jpg and /dev/null differ diff --git a/public/samples/s0027_fc205ec5_r_1500/left_t-15.jpg b/public/samples/s0027_fc205ec5_r_1500/left_t-15.jpg deleted file mode 100644 index 2b8e0e3e7359b0b532a7d8b97509f8fa6c414b81..0000000000000000000000000000000000000000 Binary files a/public/samples/s0027_fc205ec5_r_1500/left_t-15.jpg and /dev/null differ diff --git a/public/samples/s0027_fc205ec5_r_1500/left_t-30.jpg b/public/samples/s0027_fc205ec5_r_1500/left_t-30.jpg deleted file mode 100644 index 95afd8223533d9dcc96ee766bfa298201d3a6bf9..0000000000000000000000000000000000000000 Binary files a/public/samples/s0027_fc205ec5_r_1500/left_t-30.jpg and /dev/null differ diff --git a/public/samples/s0027_fc205ec5_r_1500/left_t.jpg b/public/samples/s0027_fc205ec5_r_1500/left_t.jpg deleted file mode 100644 index f8ad4c2d4b3448cae45eef8b109ec6cf115c814d..0000000000000000000000000000000000000000 Binary files a/public/samples/s0027_fc205ec5_r_1500/left_t.jpg and /dev/null differ diff --git a/public/samples/s0027_fc205ec5_r_1500/overlay_t.jpg b/public/samples/s0027_fc205ec5_r_1500/overlay_t.jpg deleted file mode 100644 index 26b010a3e2f479cc0ecf069a7b74409984a41380..0000000000000000000000000000000000000000 Binary files a/public/samples/s0027_fc205ec5_r_1500/overlay_t.jpg and /dev/null differ diff --git a/public/samples/s0027_fc205ec5_r_1500/right_t-15.jpg b/public/samples/s0027_fc205ec5_r_1500/right_t-15.jpg deleted file mode 100644 index c294e28f71f88e5285834a56a63e8cf191027dbf..0000000000000000000000000000000000000000 Binary files a/public/samples/s0027_fc205ec5_r_1500/right_t-15.jpg and /dev/null differ diff --git a/public/samples/s0027_fc205ec5_r_1500/right_t-30.jpg b/public/samples/s0027_fc205ec5_r_1500/right_t-30.jpg deleted file mode 100644 index c77cf49aaae78a9144858f6d586aee87630ec67a..0000000000000000000000000000000000000000 Binary files a/public/samples/s0027_fc205ec5_r_1500/right_t-30.jpg and /dev/null differ diff --git a/public/samples/s0027_fc205ec5_r_1500/right_t.jpg b/public/samples/s0027_fc205ec5_r_1500/right_t.jpg deleted file mode 100644 index f69071703923d718990248d9b51a796cbd9e4c67..0000000000000000000000000000000000000000 Binary files a/public/samples/s0027_fc205ec5_r_1500/right_t.jpg and /dev/null differ diff --git a/public/samples/s0027_fc205ec5_r_1500/sample.json b/public/samples/s0027_fc205ec5_r_1500/sample.json deleted file mode 100644 index f148653f41f7803cf4696f3447ee38e685351932..0000000000000000000000000000000000000000 --- a/public/samples/s0027_fc205ec5_r_1500/sample.json +++ /dev/null @@ -1,2154 +0,0 @@ -{ - 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1.55753, - 1.50446, - -0.59097, - -0.06617, - -0.57851, - 0.0, - 0.41148, - 2.15758, - 1.72306, - -0.86566, - -0.10135, - 0.207, - 0.32844 - ] - ], - "state_t": [ - -0.90047, - 1.64969, - 1.63367, - -0.70401, - -0.07382, - -0.52434, - 0.0113, - 0.51595, - 1.48795, - 1.45781, - -0.94396, - -0.31872, - 0.34161, - 0.98497 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +13.0 cm forward, -2.5 cm to the robot's left and -18.4 cm up from where it is now (path length 33.6 cm); in the top camera that is +1 px right and -2 px down. Gripper command: now 0.98 open; starts closing at +0.00 s and is shut (0.33) at +3.13 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5543, - -0.0776, - 0.9849 - ], - "grasp_site_now_uv": [ - 341.0, - 231.1 - ], - "grasp_site_at_shut_xyz_m": [ - 0.6843, - -0.1028, - 0.8008 - ], - "grasp_site_at_shut_uv": [ - 342.3, - 228.8 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 94, - "path_len_cm": 33.6, - "path_uv_every_3_frames": [ - [ - 347.9, - 238.5 - ], - [ - 349.3, - 242.2 - ], - [ - 349.8, - 244.9 - ], - [ - 349.1, - 246.4 - ], - [ - 350.5, - 245.5 - ], - [ - 352.9, - 245.0 - ], - [ - 355.3, - 245.3 - ], - [ - 354.6, - 245.9 - ], - [ - 352.8, - 248.2 - ], - [ - 350.7, - 250.2 - ], - [ - 348.2, - 251.3 - ], - [ - 346.4, - 251.4 - ], - [ - 344.6, - 249.1 - ], - [ - 342.7, - 246.1 - ], - [ - 343.0, - 244.6 - ], - [ - 343.2, - 243.7 - ], - [ - 345.3, - 243.1 - ], - [ - 346.2, - 242.5 - ], - [ - 345.8, - 241.6 - ], - [ - 345.4, - 240.1 - ], - [ - 345.7, - 239.7 - ], - [ - 346.2, - 240.0 - ], - [ - 346.5, - 240.5 - ], - [ - 346.8, - 239.4 - ], - [ - 346.2, - 235.7 - ], - [ - 344.1, - 232.6 - ], - [ - 342.0, - 231.1 - ], - [ - 341.1, - 230.0 - ], - [ - 340.7, - 228.9 - ], - [ - 341.2, - 229.1 - ], - [ - 341.5, - 229.4 - ], - [ - 342.0, - 229.1 - ], - [ - 342.3, - 228.8 - ], - [ - 342.3, - 228.8 - ], - [ - 342.3, - 228.8 - ], - [ - 342.3, - 228.8 - ], - [ - 342.3, - 228.8 - ], - [ - 342.3, - 228.8 - ], - [ - 342.3, - 228.8 - ], - [ - 342.3, - 228.8 - ] - ], - "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml" - } - } -} \ No newline at end of file diff --git a/public/samples/s0027_fc205ec5_r_1500/top_t-15.jpg b/public/samples/s0027_fc205ec5_r_1500/top_t-15.jpg deleted file mode 100644 index f3be6f209fcfae7163382823fcc398564ad41956..0000000000000000000000000000000000000000 Binary files a/public/samples/s0027_fc205ec5_r_1500/top_t-15.jpg and /dev/null differ diff --git a/public/samples/s0027_fc205ec5_r_1500/top_t-30.jpg b/public/samples/s0027_fc205ec5_r_1500/top_t-30.jpg deleted file mode 100644 index 6c7648adb913a720dca5af2737e1eb2371d82c31..0000000000000000000000000000000000000000 Binary files a/public/samples/s0027_fc205ec5_r_1500/top_t-30.jpg and /dev/null differ diff --git a/public/samples/s0027_fc205ec5_r_1500/top_t.jpg b/public/samples/s0027_fc205ec5_r_1500/top_t.jpg deleted file mode 100644 index 7a038ae27c249f9d2b7bbc5e33d246045b8c9883..0000000000000000000000000000000000000000 Binary files a/public/samples/s0027_fc205ec5_r_1500/top_t.jpg and /dev/null differ diff --git a/public/samples/s0028_56cdadbf_l_2087/left_t-15.jpg b/public/samples/s0028_56cdadbf_l_2087/left_t-15.jpg deleted file mode 100644 index e539c856b9908fa7f7a07d3a6b18f9d90dfc18ee..0000000000000000000000000000000000000000 Binary files a/public/samples/s0028_56cdadbf_l_2087/left_t-15.jpg and /dev/null differ diff --git a/public/samples/s0028_56cdadbf_l_2087/left_t-30.jpg b/public/samples/s0028_56cdadbf_l_2087/left_t-30.jpg deleted file mode 100644 index 1cd0d7835caf5ad9c8ac3304aa878d92007213ba..0000000000000000000000000000000000000000 Binary files a/public/samples/s0028_56cdadbf_l_2087/left_t-30.jpg and /dev/null differ diff --git a/public/samples/s0028_56cdadbf_l_2087/left_t.jpg b/public/samples/s0028_56cdadbf_l_2087/left_t.jpg deleted file mode 100644 index a7b562e93051ac7e077613ac07e0a7893609122c..0000000000000000000000000000000000000000 Binary files a/public/samples/s0028_56cdadbf_l_2087/left_t.jpg and /dev/null differ diff --git a/public/samples/s0028_56cdadbf_l_2087/overlay_t.jpg b/public/samples/s0028_56cdadbf_l_2087/overlay_t.jpg deleted file mode 100644 index efefb406f18cf0fe8c58f45155f5f1a06afb3aad..0000000000000000000000000000000000000000 Binary files a/public/samples/s0028_56cdadbf_l_2087/overlay_t.jpg and /dev/null differ diff --git a/public/samples/s0028_56cdadbf_l_2087/right_t-15.jpg b/public/samples/s0028_56cdadbf_l_2087/right_t-15.jpg deleted file mode 100644 index 178004311e3f053d39de59e378a71617ae2ab82b..0000000000000000000000000000000000000000 Binary files a/public/samples/s0028_56cdadbf_l_2087/right_t-15.jpg and /dev/null differ diff --git a/public/samples/s0028_56cdadbf_l_2087/right_t-30.jpg b/public/samples/s0028_56cdadbf_l_2087/right_t-30.jpg deleted file mode 100644 index d909ed77a6489adc2bcfe59ff28f37dff5d4b01a..0000000000000000000000000000000000000000 Binary files a/public/samples/s0028_56cdadbf_l_2087/right_t-30.jpg and /dev/null differ diff --git a/public/samples/s0028_56cdadbf_l_2087/right_t.jpg b/public/samples/s0028_56cdadbf_l_2087/right_t.jpg deleted file mode 100644 index 3a27f34e45914b1b1cfe1c130ea38897d5a7cfaa..0000000000000000000000000000000000000000 Binary files a/public/samples/s0028_56cdadbf_l_2087/right_t.jpg and /dev/null differ diff --git a/public/samples/s0028_56cdadbf_l_2087/sample.json b/public/samples/s0028_56cdadbf_l_2087/sample.json deleted file mode 100644 index 6096edd522396560fcaa4346aefe44459dd2a823..0000000000000000000000000000000000000000 --- a/public/samples/s0028_56cdadbf_l_2087/sample.json +++ /dev/null @@ -1,2154 +0,0 @@ -{ - 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By the time the jaws shut, the gripper site has moved -4.1 cm forward, -6.5 cm to the robot's left and -18.2 cm up from where it is now (path length 19.7 cm); in the top camera that is +33 px right and +53 px down. Gripper command: now 0.68 open; starts closing at +0.00 s and is shut (0.00) at +1.23 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.685, - 0.1775, - 0.9561 - ], - "grasp_site_now_uv": [ - 254.0, - 182.3 - ], - "grasp_site_at_shut_xyz_m": [ - 0.6443, - 0.1123, - 0.7745 - ], - "grasp_site_at_shut_uv": [ - 286.6, - 235.1 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 37, - "path_len_cm": 19.7, - "path_uv_every_3_frames": [ - [ - 259.9, - 211.7 - ], - [ - 266.2, - 227.5 - ], - [ - 269.0, - 235.2 - ], - [ - 271.8, - 235.7 - ], - [ - 275.2, - 237.1 - ], - [ - 278.1, - 238.6 - ], - [ - 281.6, - 238.5 - ], - [ - 284.0, - 237.6 - ], - [ - 287.5, - 236.4 - ], - [ - 291.6, - 236.6 - ], - [ - 291.7, - 237.5 - ], - [ - 289.0, - 237.3 - ], - [ - 287.3, - 235.5 - ], - [ - 286.6, - 235.1 - ], - [ - 286.6, - 235.1 - ], - [ - 286.6, - 235.1 - ], - [ - 286.6, - 235.1 - ], - [ - 286.6, - 235.1 - ], - [ - 286.6, - 235.1 - ], - [ - 286.6, - 235.1 - ], - [ - 286.6, - 235.1 - ], - [ - 286.6, - 235.1 - ], - [ - 286.6, - 235.1 - ], - [ - 286.6, - 235.1 - ], - [ - 286.6, - 235.1 - ], - [ - 286.6, - 235.1 - ], - [ - 286.6, - 235.1 - ], - [ - 286.6, - 235.1 - ], - [ - 286.6, - 235.1 - ], - [ - 286.6, - 235.1 - ], - [ - 286.6, - 235.1 - ], - [ - 286.6, - 235.1 - ], - [ - 286.6, - 235.1 - ], - [ - 286.6, - 235.1 - ], - [ - 286.6, - 235.1 - ], - [ - 286.6, - 235.1 - ], - [ - 286.6, - 235.1 - ], - [ - 286.6, - 235.1 - ], - [ - 286.6, - 235.1 - ], - [ - 286.6, - 235.1 - ] - ], - "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml" - } - } -} \ No newline at end of file diff --git a/public/samples/s0028_56cdadbf_l_2087/top_t-15.jpg b/public/samples/s0028_56cdadbf_l_2087/top_t-15.jpg deleted file mode 100644 index 9906ef292cad6a7496ccab9cb9f6b248f8f36108..0000000000000000000000000000000000000000 Binary files a/public/samples/s0028_56cdadbf_l_2087/top_t-15.jpg and /dev/null differ diff --git a/public/samples/s0028_56cdadbf_l_2087/top_t-30.jpg b/public/samples/s0028_56cdadbf_l_2087/top_t-30.jpg deleted file mode 100644 index aeba7f332dc3eb76d591837d054d77576227d37c..0000000000000000000000000000000000000000 Binary files a/public/samples/s0028_56cdadbf_l_2087/top_t-30.jpg and /dev/null differ diff --git a/public/samples/s0028_56cdadbf_l_2087/top_t.jpg b/public/samples/s0028_56cdadbf_l_2087/top_t.jpg deleted file mode 100644 index b4288a43c42d2a8a0f58e6b08aa9efd856fbc411..0000000000000000000000000000000000000000 Binary files a/public/samples/s0028_56cdadbf_l_2087/top_t.jpg and /dev/null differ diff --git a/public/samples/s0029_341d314b_l_2190/left_t-15.jpg b/public/samples/s0029_341d314b_l_2190/left_t-15.jpg deleted file mode 100644 index cf505f3540adbd265fd94539708c7717f096a87b..0000000000000000000000000000000000000000 Binary files a/public/samples/s0029_341d314b_l_2190/left_t-15.jpg and /dev/null differ diff --git a/public/samples/s0029_341d314b_l_2190/left_t-30.jpg b/public/samples/s0029_341d314b_l_2190/left_t-30.jpg deleted file mode 100644 index 589a8de4ce406b8b71c32526c6d3d96d59f3b1ad..0000000000000000000000000000000000000000 Binary files a/public/samples/s0029_341d314b_l_2190/left_t-30.jpg and /dev/null differ diff --git a/public/samples/s0029_341d314b_l_2190/left_t.jpg b/public/samples/s0029_341d314b_l_2190/left_t.jpg deleted file mode 100644 index e1df6cdf3ac8cc2b5a07fe2f5c359b343a23d0cc..0000000000000000000000000000000000000000 Binary files a/public/samples/s0029_341d314b_l_2190/left_t.jpg and /dev/null differ diff --git a/public/samples/s0029_341d314b_l_2190/overlay_t.jpg b/public/samples/s0029_341d314b_l_2190/overlay_t.jpg deleted file mode 100644 index de463c2611d9ca636f372df919bc4459d6a85f03..0000000000000000000000000000000000000000 Binary files a/public/samples/s0029_341d314b_l_2190/overlay_t.jpg and /dev/null differ diff --git a/public/samples/s0029_341d314b_l_2190/right_t-15.jpg b/public/samples/s0029_341d314b_l_2190/right_t-15.jpg deleted file mode 100644 index 297fc62ceacac542e9ff4c5fd89d1dda5f117d13..0000000000000000000000000000000000000000 Binary files a/public/samples/s0029_341d314b_l_2190/right_t-15.jpg and /dev/null differ diff --git a/public/samples/s0029_341d314b_l_2190/right_t-30.jpg b/public/samples/s0029_341d314b_l_2190/right_t-30.jpg deleted file mode 100644 index a44e03dbcbd84bd27bcd331d8017751a4f1b4b6f..0000000000000000000000000000000000000000 Binary files a/public/samples/s0029_341d314b_l_2190/right_t-30.jpg and /dev/null differ diff --git a/public/samples/s0029_341d314b_l_2190/right_t.jpg b/public/samples/s0029_341d314b_l_2190/right_t.jpg deleted file mode 100644 index b4e8cb4b7467cde38e17b6affc3de448890804d4..0000000000000000000000000000000000000000 Binary files a/public/samples/s0029_341d314b_l_2190/right_t.jpg and /dev/null differ diff --git a/public/samples/s0029_341d314b_l_2190/sample.json b/public/samples/s0029_341d314b_l_2190/sample.json deleted file mode 100644 index 38f6ee7717319e020d834fd0eb7969d6cf6aa942..0000000000000000000000000000000000000000 --- a/public/samples/s0029_341d314b_l_2190/sample.json +++ /dev/null @@ -1,2154 +0,0 @@ -{ - 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By the time the jaws shut, the gripper site has moved -4.3 cm forward, -1.6 cm to the robot's left and -4.4 cm up from where it is now (path length 10.8 cm); in the top camera that is +8 px right and +25 px down. Gripper command: now 0.62 open; starts closing at +0.17 s and is shut (0.02) at +1.63 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.629, - 0.1423, - 0.8287 - ], - "grasp_site_now_uv": [ - 260.0, - 224.7 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5857, - 0.1259, - 0.7847 - ], - "grasp_site_at_shut_uv": [ - 267.8, - 249.5 - ], - "shut_in_top_view": true, - "close_onset_frame": 5, - "close_done_frame": 49, - "path_len_cm": 10.8, - "path_uv_every_3_frames": [ - [ - 259.0, - 228.8 - ], - [ - 259.4, - 232.2 - ], - [ - 259.7, - 234.7 - ], - [ - 260.1, - 236.4 - ], - [ - 260.2, - 238.8 - ], - [ - 260.5, - 242.5 - ], - [ - 260.4, - 244.7 - ], - [ - 260.8, - 246.7 - ], - [ - 261.2, - 246.7 - ], - [ - 261.7, - 247.0 - ], - [ - 263.1, - 247.6 - ], - [ - 264.7, - 249.7 - ], - [ - 266.2, - 252.1 - ], - [ - 267.9, - 253.8 - ], - [ - 268.7, - 255.4 - ], - [ - 268.0, - 254.0 - ], - [ - 267.8, - 250.3 - ], - [ - 267.8, - 249.5 - ], - [ - 267.8, - 249.5 - ], - [ - 267.8, - 249.5 - ], - [ - 267.8, - 249.5 - ], - [ - 267.8, - 249.5 - ], - [ - 267.8, - 249.5 - ], - [ - 267.8, - 249.5 - ], - [ - 267.8, - 249.5 - ], - [ - 267.8, - 249.5 - ], - [ - 267.8, - 249.5 - ], - [ - 267.8, - 249.5 - ], - [ - 267.8, - 249.5 - ], - [ - 267.8, - 249.5 - ], - [ - 267.8, - 249.5 - ], - [ - 267.8, - 249.5 - ], - [ - 267.8, - 249.5 - ], - [ - 267.8, - 249.5 - ], - [ - 267.8, - 249.5 - ], - [ - 267.8, - 249.5 - ], - [ - 267.8, - 249.5 - ], - [ - 267.8, - 249.5 - ], - [ - 267.8, - 249.5 - ], - [ - 267.8, - 249.5 - ] - ], - "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml" - } - } -} \ No newline at end of file diff --git a/public/samples/s0029_341d314b_l_2190/top_t-15.jpg b/public/samples/s0029_341d314b_l_2190/top_t-15.jpg deleted file mode 100644 index f312d05ff1feb05bd27a536c132e88bce7a0f719..0000000000000000000000000000000000000000 Binary files a/public/samples/s0029_341d314b_l_2190/top_t-15.jpg and /dev/null differ diff --git a/public/samples/s0029_341d314b_l_2190/top_t-30.jpg b/public/samples/s0029_341d314b_l_2190/top_t-30.jpg deleted file mode 100644 index 8f7ad704db99a7c680e27521ec6930e51bba7173..0000000000000000000000000000000000000000 Binary files a/public/samples/s0029_341d314b_l_2190/top_t-30.jpg and /dev/null differ diff --git a/public/samples/s0029_341d314b_l_2190/top_t.jpg b/public/samples/s0029_341d314b_l_2190/top_t.jpg deleted file mode 100644 index 6aeeff53880122794d9e1a4c345be467a2146b01..0000000000000000000000000000000000000000 Binary files a/public/samples/s0029_341d314b_l_2190/top_t.jpg and /dev/null differ diff --git a/public/samples/s0030_ef2e66d3_r_266/left_t-15.jpg b/public/samples/s0030_ef2e66d3_r_266/left_t-15.jpg deleted file mode 100644 index 698e9c091a46f5028dae6341b6d679d856e03ffa..0000000000000000000000000000000000000000 Binary files a/public/samples/s0030_ef2e66d3_r_266/left_t-15.jpg and /dev/null differ diff --git a/public/samples/s0030_ef2e66d3_r_266/left_t-30.jpg b/public/samples/s0030_ef2e66d3_r_266/left_t-30.jpg deleted file mode 100644 index 14ca05fc4df52938d14562993194d0c0904ca461..0000000000000000000000000000000000000000 Binary files a/public/samples/s0030_ef2e66d3_r_266/left_t-30.jpg and /dev/null differ diff --git a/public/samples/s0030_ef2e66d3_r_266/left_t.jpg b/public/samples/s0030_ef2e66d3_r_266/left_t.jpg deleted file mode 100644 index 9e73cf61c2aa3ff413c3751befdad95d2e5a2a3f..0000000000000000000000000000000000000000 Binary files a/public/samples/s0030_ef2e66d3_r_266/left_t.jpg and /dev/null differ diff --git a/public/samples/s0030_ef2e66d3_r_266/overlay_t.jpg b/public/samples/s0030_ef2e66d3_r_266/overlay_t.jpg deleted file mode 100644 index 11d8a100b868424da8329d1d85fef27b4285a82a..0000000000000000000000000000000000000000 Binary files a/public/samples/s0030_ef2e66d3_r_266/overlay_t.jpg and /dev/null differ diff --git a/public/samples/s0030_ef2e66d3_r_266/right_t-15.jpg b/public/samples/s0030_ef2e66d3_r_266/right_t-15.jpg deleted file mode 100644 index 2ea619541f3b28d51dd210391b389ecb3a64a5d9..0000000000000000000000000000000000000000 Binary files a/public/samples/s0030_ef2e66d3_r_266/right_t-15.jpg and /dev/null differ diff --git a/public/samples/s0030_ef2e66d3_r_266/right_t-30.jpg b/public/samples/s0030_ef2e66d3_r_266/right_t-30.jpg deleted file mode 100644 index 04ee1dd19f42f26e043144eae79e86495dc1aa90..0000000000000000000000000000000000000000 Binary files a/public/samples/s0030_ef2e66d3_r_266/right_t-30.jpg and /dev/null differ diff --git a/public/samples/s0030_ef2e66d3_r_266/right_t.jpg b/public/samples/s0030_ef2e66d3_r_266/right_t.jpg deleted file mode 100644 index af2804f75e7674ecae3a16278968a7e9a98b1020..0000000000000000000000000000000000000000 Binary files a/public/samples/s0030_ef2e66d3_r_266/right_t.jpg and /dev/null differ diff --git a/public/samples/s0030_ef2e66d3_r_266/sample.json b/public/samples/s0030_ef2e66d3_r_266/sample.json deleted file mode 100644 index 989658c57093d7a80cf3f9d2310800c5eba1a285..0000000000000000000000000000000000000000 --- a/public/samples/s0030_ef2e66d3_r_266/sample.json +++ /dev/null @@ -1,2154 +0,0 @@ -{ - 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By the time the jaws shut, the gripper site has moved +9.5 cm forward, -3.1 cm to the robot's left and -19.0 cm up from where it is now (path length 27.0 cm); in the top camera that is -7 px right and +14 px down. Gripper command: now 0.99 open; starts closing at +1.33 s and is shut (0.00) at +2.13 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5669, - -0.1827, - 1.0284 - ], - "grasp_site_now_uv": [ - 418.7, - 198.3 - ], - "grasp_site_at_shut_xyz_m": [ - 0.6622, - -0.2134, - 0.8384 - ], - "grasp_site_at_shut_uv": [ - 412.0, - 211.9 - ], - "shut_in_top_view": true, - "close_onset_frame": 40, - "close_done_frame": 64, - "path_len_cm": 27.0, - "path_uv_every_3_frames": [ - [ - 429.1, - 210.6 - ], - [ - 429.7, - 218.4 - ], - [ - 427.6, - 220.4 - ], - [ - 426.5, - 221.1 - ], - [ - 428.4, - 221.5 - ], - [ - 428.0, - 222.8 - ], - [ - 424.8, - 224.1 - ], - [ - 422.8, - 227.1 - ], - [ - 414.8, - 227.5 - ], - [ - 412.5, - 227.5 - ], - [ - 411.1, - 229.1 - ], - [ - 412.6, - 230.4 - ], - [ - 412.8, - 230.9 - ], - [ - 411.2, - 229.5 - ], - [ - 410.2, - 228.4 - ], - [ - 406.1, - 232.1 - ], - [ - 407.6, - 232.9 - ], - [ - 407.6, - 233.0 - ], - [ - 409.1, - 230.7 - 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0.98904 - ], - [ - 0.09051, - 2.13834, - 1.28693, - 1.28995, - 0.41881, - -1.61361, - 0.0, - 0.28992, - 0.32214, - 0.74553, - -0.38348, - -0.28228, - 0.45866, - 0.98904 - ] - ], - "state_t": [ - 0.12722, - 1.85569, - 1.0626, - 0.75017, - 0.57622, - -1.35252, - 0.98413, - 0.28782, - 0.2924, - 0.7372, - -0.41257, - -0.21229, - 0.49191, - 0.98651 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +4.7 cm forward, +0.8 cm to the robot's left and +6.4 cm up from where it is now (path length 18.2 cm); in the top camera that is -8 px right and -36 px down. Gripper command: now 0.99 open; starts closing at +0.97 s and is shut (0.00) at +3.37 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.7852, - 0.2848, - 0.9756 - ], - "grasp_site_now_uv": [ - 300.7, - 137.0 - ], - "grasp_site_at_shut_xyz_m": [ - 0.8325, - 0.2932, - 1.0392 - ], - "grasp_site_at_shut_uv": [ - 293.0, - 100.8 - ], - "shut_in_top_view": true, - "close_onset_frame": 29, - "close_done_frame": 101, - "path_len_cm": 18.2, - "path_uv_every_3_frames": [ - [ - 291.2, - 117.5 - ], - [ - 290.4, - 116.8 - ], - [ - 289.5, - 117.0 - ], - [ - 287.8, - 117.0 - ], - [ - 285.9, - 117.3 - ], - [ - 284.5, - 117.1 - ], - [ - 283.1, - 116.8 - ], - [ - 282.5, - 115.9 - ], - [ - 281.9, - 115.0 - ], - [ - 281.3, - 114.2 - ], - [ - 282.8, - 115.8 - ], - [ - 284.1, - 117.2 - ], - [ - 285.1, - 118.0 - ], - [ - 285.5, - 118.3 - ], - [ - 286.3, - 118.6 - ], - [ - 287.5, - 120.1 - ], - [ - 289.4, - 121.9 - ], - [ - 290.1, - 122.1 - ], - [ - 291.1, - 119.7 - ], - [ - 292.8, - 119.2 - ], - [ - 294.0, - 119.3 - ], - [ - 294.0, - 120.1 - ], - [ - 294.9, - 121.8 - ], - [ - 295.8, - 123.7 - ], - [ - 296.5, - 124.4 - ], - [ - 296.9, - 121.9 - ], - [ - 297.8, - 121.4 - ], - [ - 298.1, - 120.1 - ], - [ - 298.5, - 119.4 - ], - [ - 299.3, - 118.2 - ], - [ - 299.4, - 117.2 - ], - [ - 298.5, - 114.2 - ], - [ - 296.0, - 109.0 - ], - [ - 294.7, - 104.0 - ], - [ - 293.0, - 100.8 - ], - [ - 293.0, - 100.8 - ], - [ - 293.0, - 100.8 - ], - [ - 293.0, - 100.8 - ], - [ - 293.0, - 100.8 - ], - [ - 293.0, - 100.8 - ] - ], - "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml" - } - } -} \ No newline at end of file diff --git a/public/samples/s0031_0ae9b29a_l_93/top_t-15.jpg b/public/samples/s0031_0ae9b29a_l_93/top_t-15.jpg deleted file mode 100644 index fcdf98472d7559f92fc2ad63c2a991c64760f3f5..0000000000000000000000000000000000000000 Binary files a/public/samples/s0031_0ae9b29a_l_93/top_t-15.jpg and /dev/null differ diff --git a/public/samples/s0031_0ae9b29a_l_93/top_t-30.jpg b/public/samples/s0031_0ae9b29a_l_93/top_t-30.jpg deleted file mode 100644 index 72bc4ce4d44c6be20ed9a472b4ee50512bb514d6..0000000000000000000000000000000000000000 Binary files a/public/samples/s0031_0ae9b29a_l_93/top_t-30.jpg and /dev/null differ diff --git a/public/samples/s0031_0ae9b29a_l_93/top_t.jpg b/public/samples/s0031_0ae9b29a_l_93/top_t.jpg deleted file mode 100644 index 2ea0b5f81e808e89f2808f7794df665c7d49705d..0000000000000000000000000000000000000000 Binary files a/public/samples/s0031_0ae9b29a_l_93/top_t.jpg and /dev/null differ diff --git a/public/samples/s0032_b1279677_r_2138/left_t-15.jpg b/public/samples/s0032_b1279677_r_2138/left_t-15.jpg deleted file mode 100644 index cab38776023060de74ec6c5ecb67d0632e32207b..0000000000000000000000000000000000000000 Binary files a/public/samples/s0032_b1279677_r_2138/left_t-15.jpg and /dev/null differ diff --git a/public/samples/s0032_b1279677_r_2138/left_t-30.jpg b/public/samples/s0032_b1279677_r_2138/left_t-30.jpg deleted file mode 100644 index 0832312b48fa5d73373597ee8bfdbee4d004b527..0000000000000000000000000000000000000000 Binary files a/public/samples/s0032_b1279677_r_2138/left_t-30.jpg and /dev/null differ diff --git a/public/samples/s0032_b1279677_r_2138/left_t.jpg b/public/samples/s0032_b1279677_r_2138/left_t.jpg deleted file mode 100644 index 6ebfd6def1554fffc2d1c87d0cebbce89ab56830..0000000000000000000000000000000000000000 Binary files a/public/samples/s0032_b1279677_r_2138/left_t.jpg and /dev/null differ diff --git a/public/samples/s0032_b1279677_r_2138/overlay_t.jpg b/public/samples/s0032_b1279677_r_2138/overlay_t.jpg deleted file mode 100644 index b11ef1b71dfdab105bad589e94729a65120f3a86..0000000000000000000000000000000000000000 Binary files a/public/samples/s0032_b1279677_r_2138/overlay_t.jpg and /dev/null differ diff --git a/public/samples/s0032_b1279677_r_2138/right_t-15.jpg b/public/samples/s0032_b1279677_r_2138/right_t-15.jpg deleted file mode 100644 index 5450fb2c2fe9e8b5cfcfd552237bd9a06110f3f8..0000000000000000000000000000000000000000 Binary files a/public/samples/s0032_b1279677_r_2138/right_t-15.jpg and /dev/null differ diff --git a/public/samples/s0032_b1279677_r_2138/right_t-30.jpg b/public/samples/s0032_b1279677_r_2138/right_t-30.jpg deleted file mode 100644 index baee315fdcf3e9edbe2ec786043d65aa5709f834..0000000000000000000000000000000000000000 Binary files a/public/samples/s0032_b1279677_r_2138/right_t-30.jpg and /dev/null differ diff --git a/public/samples/s0032_b1279677_r_2138/right_t.jpg b/public/samples/s0032_b1279677_r_2138/right_t.jpg deleted file mode 100644 index 1f0bdd1f701e023f78af8b2632c5a8ba988d8e8c..0000000000000000000000000000000000000000 Binary files a/public/samples/s0032_b1279677_r_2138/right_t.jpg and /dev/null differ diff --git a/public/samples/s0032_b1279677_r_2138/sample.json b/public/samples/s0032_b1279677_r_2138/sample.json deleted file mode 100644 index dfbb20606b9345137c8793639ca3ee50c5fbdcc1..0000000000000000000000000000000000000000 --- a/public/samples/s0032_b1279677_r_2138/sample.json +++ /dev/null @@ -1,2154 +0,0 @@ -{ - 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By the time the jaws shut, the gripper site has moved +1.0 cm forward, +4.0 cm to the robot's left and -5.5 cm up from where it is now (path length 10.7 cm); in the top camera that is -18 px right and +8 px down. Gripper command: now 0.71 open; starts closing at +0.03 s and is shut (0.00) at +2.07 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.6356, - -0.1585, - 0.8488 - ], - "grasp_site_now_uv": [ - 384.6, - 218.7 - ], - "grasp_site_at_shut_xyz_m": [ - 0.6461, - -0.119, - 0.7933 - ], - "grasp_site_at_shut_uv": [ - 367.1, - 226.5 - ], - "shut_in_top_view": true, - "close_onset_frame": 1, - "close_done_frame": 62, - "path_len_cm": 10.7, - "path_uv_every_3_frames": [ - [ - 391.0, - 229.8 - ], - [ - 389.4, - 233.6 - ], - [ - 386.1, - 235.7 - ], - [ - 383.3, - 234.0 - ], - [ - 381.5, - 231.6 - ], - [ - 379.2, - 229.7 - ], - [ - 376.3, - 228.2 - ], - [ - 374.3, - 227.6 - ], - [ - 372.7, - 227.9 - ], - [ - 370.7, - 227.9 - ], - [ - 369.4, - 228.3 - ], - [ - 369.0, - 228.5 - ], - [ - 367.9, - 227.5 - ], - [ - 367.0, - 227.0 - ], - [ - 366.6, - 226.9 - ], - [ - 366.2, - 227.4 - ], - [ - 366.3, - 227.2 - ], - [ - 366.4, - 226.9 - ], - [ - 366.8, - 226.7 - 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By the time the jaws shut, the gripper site has moved -26.8 cm forward, +9.8 cm to the robot's left and -2.8 cm up from where it is now (path length 48.4 cm); in the top camera that is -35 px right and +93 px down. Gripper command: now 0.53 open; starts closing at +1.03 s and is shut (0.31) at +2.53 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.7405, - -0.1077, - 0.828 - ], - "grasp_site_now_uv": [ - 365.8, - 195.6 - ], - "grasp_site_at_shut_xyz_m": [ - 0.473, - -0.0098, - 0.8001 - ], - "grasp_site_at_shut_uv": [ - 331.0, - 288.6 - ], - "shut_in_top_view": true, - "close_onset_frame": 31, - "close_done_frame": 76, - "path_len_cm": 48.4, - "path_uv_every_3_frames": [ - [ - 366.7, - 191.8 - ], - [ - 366.7, - 189.1 - ], - [ - 367.0, - 185.5 - ], - [ - 367.6, - 182.8 - ], - [ - 367.6, - 184.2 - ], - [ - 366.8, - 189.5 - ], - [ - 366.3, - 197.8 - ], - [ - 364.1, - 210.2 - ], - [ - 360.9, - 226.5 - ], - [ - 355.4, - 244.5 - ], - [ - 348.9, - 262.1 - ], - [ - 342.3, - 274.9 - ], - [ - 338.0, - 283.6 - ], - [ - 336.3, - 288.1 - ], - [ - 335.2, - 290.5 - ], - [ - 334.5, - 291.1 - ], - [ - 333.0, - 292.3 - ], - [ - 332.5, - 293.2 - ], - [ - 331.5, - 294.2 - ], - [ - 330.7, - 294.9 - ], - [ - 330.9, - 296.1 - ], - [ - 331.1, - 297.1 - ], - [ - 332.0, - 297.3 - ], - [ - 332.6, - 296.6 - ], - [ - 332.3, - 294.6 - ], - [ - 331.6, - 290.6 - ], - [ - 331.0, - 288.6 - ], - [ - 331.0, - 288.6 - ], - [ - 331.0, - 288.6 - ], - [ - 331.0, - 288.6 - ], - [ - 331.0, - 288.6 - ], - [ - 331.0, - 288.6 - ], - [ - 331.0, - 288.6 - ], - [ - 331.0, - 288.6 - ], - [ - 331.0, - 288.6 - ], - [ - 331.0, - 288.6 - ], - [ - 331.0, - 288.6 - ], - [ - 331.0, - 288.6 - ], - [ - 331.0, - 288.6 - ], - [ - 331.0, - 288.6 - ] - ], - "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml" - } - } -} \ No newline at end of file diff --git a/public/samples/s0033_eb01da60_r_297/top_t-15.jpg b/public/samples/s0033_eb01da60_r_297/top_t-15.jpg deleted file mode 100644 index e2729efe9043fada5cb33404cc0d3375b7e3bc64..0000000000000000000000000000000000000000 Binary files a/public/samples/s0033_eb01da60_r_297/top_t-15.jpg and /dev/null differ diff --git a/public/samples/s0033_eb01da60_r_297/top_t-30.jpg b/public/samples/s0033_eb01da60_r_297/top_t-30.jpg deleted file mode 100644 index 2647716f15f40574c9c19ad514b8218bebfd4203..0000000000000000000000000000000000000000 Binary files a/public/samples/s0033_eb01da60_r_297/top_t-30.jpg and /dev/null differ diff --git a/public/samples/s0033_eb01da60_r_297/top_t.jpg b/public/samples/s0033_eb01da60_r_297/top_t.jpg deleted file mode 100644 index b8c1a247e91758c8709fa9dc415495207febe831..0000000000000000000000000000000000000000 Binary files a/public/samples/s0033_eb01da60_r_297/top_t.jpg and /dev/null differ diff --git a/public/samples/s0034_1bc8e710_r_1233/left_t-15.jpg b/public/samples/s0034_1bc8e710_r_1233/left_t-15.jpg deleted file mode 100644 index 23ea2ea9943f749257b3203d593720c8f6b1ae71..0000000000000000000000000000000000000000 Binary files a/public/samples/s0034_1bc8e710_r_1233/left_t-15.jpg and /dev/null differ diff --git a/public/samples/s0034_1bc8e710_r_1233/left_t-30.jpg b/public/samples/s0034_1bc8e710_r_1233/left_t-30.jpg deleted file mode 100644 index 303679249fbf967046be39c9fc79446e417296f2..0000000000000000000000000000000000000000 Binary files a/public/samples/s0034_1bc8e710_r_1233/left_t-30.jpg and /dev/null differ diff --git a/public/samples/s0034_1bc8e710_r_1233/left_t.jpg b/public/samples/s0034_1bc8e710_r_1233/left_t.jpg deleted file mode 100644 index 8f2dfa7a6881b57be4d861ea2e3086d9b16e534c..0000000000000000000000000000000000000000 Binary files a/public/samples/s0034_1bc8e710_r_1233/left_t.jpg and /dev/null differ diff --git a/public/samples/s0034_1bc8e710_r_1233/overlay_t.jpg b/public/samples/s0034_1bc8e710_r_1233/overlay_t.jpg deleted file mode 100644 index cd185a4a31be082b1fec736a9fe1faf56ab242e3..0000000000000000000000000000000000000000 Binary files a/public/samples/s0034_1bc8e710_r_1233/overlay_t.jpg and /dev/null differ diff --git a/public/samples/s0034_1bc8e710_r_1233/right_t-15.jpg b/public/samples/s0034_1bc8e710_r_1233/right_t-15.jpg deleted file mode 100644 index ce6e29f49f0f37bf4ad954611ce97549ac20d930..0000000000000000000000000000000000000000 Binary files a/public/samples/s0034_1bc8e710_r_1233/right_t-15.jpg and /dev/null differ diff --git a/public/samples/s0034_1bc8e710_r_1233/right_t-30.jpg b/public/samples/s0034_1bc8e710_r_1233/right_t-30.jpg deleted file mode 100644 index 608c5570acf0e805ea0bd7911ef4225fa5979d22..0000000000000000000000000000000000000000 Binary files a/public/samples/s0034_1bc8e710_r_1233/right_t-30.jpg and /dev/null differ diff --git a/public/samples/s0034_1bc8e710_r_1233/right_t.jpg b/public/samples/s0034_1bc8e710_r_1233/right_t.jpg deleted file mode 100644 index 78d08d9ea74523987c17d4b1e51e46942664d6e7..0000000000000000000000000000000000000000 Binary files a/public/samples/s0034_1bc8e710_r_1233/right_t.jpg and /dev/null differ diff --git a/public/samples/s0034_1bc8e710_r_1233/sample.json b/public/samples/s0034_1bc8e710_r_1233/sample.json deleted file mode 100644 index b4b253acf4118cbe4f349697686fe2870d05bc9d..0000000000000000000000000000000000000000 --- a/public/samples/s0034_1bc8e710_r_1233/sample.json +++ /dev/null @@ -1,2154 +0,0 @@ -{ - 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0.97099, - 1.00476, - -0.3436, - 0.15045, - -0.5783, - 0.49555, - 0.83757, - 1.51867, - 0.92036, - 0.44495, - -0.46176, - -0.27612, - 0.55583 - ], - [ - -0.49702, - 0.97099, - 1.00476, - -0.3436, - 0.15045, - -0.5783, - 0.49555, - 0.83757, - 1.51867, - 0.92036, - 0.44495, - -0.46176, - -0.27612, - 0.55583 - ], - [ - -0.49702, - 0.97099, - 1.00476, - -0.3436, - 0.15045, - -0.5783, - 0.49555, - 0.83757, - 1.51867, - 0.92036, - 0.44495, - -0.46176, - -0.27612, - 0.55583 - ] - ], - "state_t": [ - -0.46216, - 0.97944, - 0.94663, - -0.43431, - 0.15698, - -0.60559, - 0.46103, - 0.82532, - 1.40288, - 0.77192, - 0.39998, - -0.55066, - -0.36908, - 0.99732 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +3.5 cm forward, +2.6 cm to the robot's left and +2.7 cm up from where it is now (path length 4.0 cm); in the top camera that is -14 px right and -23 px down. Gripper command: now 1.00 open; starts closing at +0.10 s and is shut (0.56) at +0.47 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4735, - 0.0605, - 0.9781 - ], - "grasp_site_now_uv": [ - 393.8, - 255.0 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5081, - 0.087, - 1.0047 - ], - "grasp_site_at_shut_uv": [ - 379.6, - 232.2 - ], - "shut_in_top_view": true, - "close_onset_frame": 3, - "close_done_frame": 14, - "path_len_cm": 4.0, - "path_uv_every_3_frames": [ - [ - 384.3, - 249.8 - ], - [ - 381.4, - 245.6 - ], - [ - 379.0, - 240.9 - ], - [ - 377.8, - 236.7 - ], - [ - 379.1, - 233.0 - ], - [ - 379.6, - 232.2 - ], - [ - 379.6, - 232.2 - ], - [ - 379.6, - 232.2 - ], - [ - 379.6, - 232.2 - ], - [ - 379.6, - 232.2 - ], - [ - 379.6, - 232.2 - ], - [ - 379.6, - 232.2 - ], - [ - 379.6, - 232.2 - ], - [ - 379.6, - 232.2 - ], - [ - 379.6, - 232.2 - ], - [ - 379.6, - 232.2 - ], - [ - 379.6, - 232.2 - ], - [ - 379.6, - 232.2 - ], - [ - 379.6, - 232.2 - ], - 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1.40815, - -0.41735, - -1.13941, - -0.35429, - 0.00291 - ], - [ - -0.51238, - 1.30227, - 0.70101, - 0.11655, - 0.18555, - 0.28703, - 0.0, - 0.64889, - 1.79463, - 1.40815, - -0.41735, - -1.13941, - -0.35429, - 0.00291 - ] - ], - "state_t": [ - -0.32979, - 0.78756, - 0.70897, - -0.64832, - 0.44537, - 0.54952, - 0.53717, - 0.62428, - 2.16583, - 1.49786, - -0.2863, - -0.43774, - 0.67388, - 0.00517 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +11.7 cm forward, -7.2 cm to the robot's left and -2.3 cm up from where it is now (path length 26.3 cm); in the top camera that is +40 px right and -44 px down. Gripper command: now 0.70 open; starts closing at +0.93 s and is shut (0.00) at +1.70 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4678, - 0.1589, - 0.9405 - ], - "grasp_site_now_uv": [ - 242.0, - 265.5 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5851, - 0.0869, - 0.9171 - ], - "grasp_site_at_shut_uv": [ - 282.3, - 221.5 - ], - "shut_in_top_view": true, - "close_onset_frame": 28, - "close_done_frame": 51, - "path_len_cm": 26.3, - "path_uv_every_3_frames": [ - [ - 246.5, - 260.1 - ], - [ - 253.8, - 247.9 - ], - [ - 260.3, - 231.2 - ], - [ - 266.4, - 226.1 - ], - [ - 273.0, - 228.5 - ], - [ - 279.1, - 228.5 - ], - [ - 280.8, - 224.6 - ], - [ - 279.8, - 221.3 - ], - [ - 282.6, - 225.5 - ], - [ - 287.6, - 231.8 - ], - [ - 292.9, - 236.6 - ], - [ - 292.7, - 235.7 - ], - [ - 289.1, - 233.1 - ], - [ - 285.7, - 230.2 - ], - [ - 282.7, - 226.5 - ], - [ - 281.6, - 223.7 - ], - [ - 282.3, - 222.8 - ], - [ - 282.3, - 221.5 - ], - [ - 282.3, - 221.5 - 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], - [ - -1.48654, - 1.15834, - 0.92982, - 0.29764, - 0.32379, - -0.14723, - 0.0, - 0.30373, - 0.33289, - 1.29775, - -1.30078, - -0.85001, - 0.31907, - 0.65315 - ] - ], - "state_t": [ - -1.34108, - 1.15034, - 1.03208, - 0.33131, - 0.36221, - -0.25692, - 0.92643, - 0.25692, - 0.32597, - 1.29034, - -1.32925, - -0.78107, - 0.29889, - 0.01915 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -5.0 cm forward, -1.0 cm to the robot's left and -6.0 cm up from where it is now (path length 16.6 cm); in the top camera that is +5 px right and +52 px down. Gripper command: now 0.93 open; starts closing at +0.27 s and is shut (0.00) at +1.20 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.2827, - -0.0838, - 1.1849 - ], - "grasp_site_now_uv": [ - 389.1, - 309.9 - ], - "grasp_site_at_shut_xyz_m": [ - 0.2324, - -0.0941, - 1.125 - ], - "grasp_site_at_shut_uv": [ - 393.6, - 361.7 - ], - "shut_in_top_view": true, - "close_onset_frame": 8, - "close_done_frame": 36, - "path_len_cm": 16.6, - "path_uv_every_3_frames": [ - [ - 398.9, - 317.7 - ], - [ - 416.6, - 335.3 - ], - [ - 428.3, - 350.2 - ], - [ - 430.9, - 360.2 - ], - [ - 428.2, - 362.9 - ], - [ - 425.3, - 363.0 - ], - [ - 424.1, - 364.2 - ], - [ - 423.1, - 369.3 - ], - [ - 422.5, - 373.2 - ], - [ - 419.6, - 375.4 - ], - [ - 413.8, - 373.8 - ], - [ - 405.1, - 369.3 - ], - [ - 393.6, - 361.7 - ], - [ - 393.6, - 361.7 - ], - [ - 393.6, - 361.7 - ], - [ - 393.6, - 361.7 - ], - [ - 393.6, - 361.7 - ], - [ - 393.6, - 361.7 - ], - [ - 393.6, - 361.7 - 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1.39013, - -0.73902, - 0.12042, - 0.47785, - 0.03813 - ] - ], - "state_t": [ - -0.42592, - 1.19841, - 0.60826, - 0.04673, - 0.1627, - -0.28286, - 0.99927, - 0.71622, - 1.50702, - 0.82189, - -0.51595, - -0.26989, - 0.62047, - 0.79708 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +9.1 cm forward, +4.9 cm to the robot's left and -2.5 cm up from where it is now (path length 30.2 cm); in the top camera that is -20 px right and -28 px down. Gripper command: now 0.81 open; starts closing at +0.20 s and is shut (0.04) at +1.73 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4617, - -0.0678, - 0.7971 - ], - "grasp_site_now_uv": [ - 353.6, - 294.9 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5531, - -0.0193, - 0.7724 - ], - "grasp_site_at_shut_uv": [ - 333.5, - 266.5 - ], - "shut_in_top_view": true, - "close_onset_frame": 6, - "close_done_frame": 52, - "path_len_cm": 30.2, - "path_uv_every_3_frames": [ - [ - 327.1, - 289.1 - ], - [ - 313.4, - 284.8 - ], - [ - 305.4, - 275.7 - ], - [ - 307.7, - 266.5 - ], - [ - 322.0, - 260.2 - ], - [ - 336.2, - 256.8 - ], - [ - 339.4, - 257.6 - ], - [ - 337.4, - 259.4 - ], - [ - 334.3, - 260.6 - ], - [ - 331.1, - 259.7 - ], - [ - 327.1, - 258.8 - ], - [ - 326.7, - 259.4 - ], - [ - 328.8, - 261.0 - ], - [ - 331.8, - 262.2 - ], - [ - 333.6, - 264.0 - ], - [ - 333.6, - 265.4 - ], - [ - 333.0, - 266.3 - ], - [ - 333.3, - 266.7 - ], - [ - 333.5, - 266.5 - 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0.6827, - 0.0 - ] - ], - "state_t": [ - -0.46063, - 1.36435, - 1.25372, - -0.10853, - -0.02918, - -0.75818, - 0.03537, - 0.46292, - 1.64206, - 1.25715, - 0.31186, - -0.80549, - 0.75742, - 0.57531 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +1.5 cm forward, +1.1 cm to the robot's left and +2.0 cm up from where it is now (path length 3.9 cm); in the top camera that is -6 px right and -13 px down. Gripper command: now 0.57 open; starts closing at +0.17 s and is shut (0.00) at +1.40 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.6269, - 0.0139, - 1.077 - ], - "grasp_site_now_uv": [ - 418.2, - 158.6 - ], - "grasp_site_at_shut_xyz_m": [ - 0.642, - 0.0252, - 1.0968 - ], - "grasp_site_at_shut_uv": [ - 412.1, - 145.4 - ], - "shut_in_top_view": true, - "close_onset_frame": 5, - "close_done_frame": 42, - "path_len_cm": 3.9, - "path_uv_every_3_frames": [ - [ - 414.6, - 146.1 - ], - [ - 413.1, - 145.6 - ], - [ - 412.2, - 145.8 - ], - [ - 411.6, - 145.8 - ], - [ - 411.6, - 144.9 - ], - [ - 410.6, - 144.6 - ], - [ - 409.5, - 144.9 - ], - [ - 409.4, - 145.4 - ], - [ - 408.6, - 146.6 - ], - [ - 409.2, - 146.3 - ], - [ - 408.9, - 146.6 - ], - [ - 409.0, - 146.6 - ], - [ - 409.6, - 145.7 - ], - [ - 410.7, - 145.2 - ], - [ - 412.1, - 145.4 - ], - [ - 412.1, - 145.4 - ], - [ - 412.1, - 145.4 - ], - [ - 412.1, - 145.4 - ], - [ - 412.1, - 145.4 - ], - 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0.02766, - 0.14556, - -0.39115, - 1.4665, - 0.83754, - -0.35435, - -1.25174, - 0.36052, - 0.0 - ] - ], - "state_t": [ - -0.54646, - 2.30659, - 1.82021, - 0.02804, - 1.16331, - -0.36069, - 0.64541, - -0.29965, - 1.55547, - 0.80243, - 0.26036, - -1.17514, - 0.76314, - 0.25026 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -2.3 cm forward, -0.8 cm to the robot's left and -5.5 cm up from where it is now (path length 13.9 cm); in the top camera that is +1 px right and +23 px down. Gripper command: now 0.67 open; starts closing at +0.27 s and is shut (0.15) at +1.43 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.6572, - -0.1188, - 0.9357 - ], - "grasp_site_now_uv": [ - 479.5, - 190.5 - ], - "grasp_site_at_shut_xyz_m": [ - 0.634, - -0.1264, - 0.8803 - ], - "grasp_site_at_shut_uv": [ - 480.8, - 213.2 - ], - "shut_in_top_view": true, - "close_onset_frame": 8, - "close_done_frame": 43, - "path_len_cm": 13.9, - "path_uv_every_3_frames": [ - [ - 482.7, - 184.2 - ], - [ - 484.2, - 188.4 - ], - [ - 484.0, - 193.6 - ], - [ - 483.6, - 199.5 - ], - [ - 483.2, - 204.1 - ], - [ - 482.9, - 205.7 - ], - [ - 481.5, - 205.2 - ], - [ - 481.1, - 204.7 - ], - [ - 480.1, - 205.3 - ], - [ - 479.4, - 206.3 - ], - [ - 478.1, - 208.0 - ], - [ - 477.1, - 208.9 - ], - [ - 476.5, - 209.1 - ], - [ - 477.6, - 210.1 - ], - [ - 480.3, - 212.2 - ], - [ - 480.8, - 213.2 - ], - [ - 480.8, - 213.2 - ], - [ - 480.8, - 213.2 - ], - [ - 480.8, - 213.2 - 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0.80652, - 0.63077, - 1.43645, - 1.03475, - -0.73415, - -0.07801, - 0.72385, - 0.7543 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +2.3 cm forward, +1.2 cm to the robot's left and -6.1 cm up from where it is now (path length 12.1 cm); in the top camera that is -7 px right and +3 px down. Gripper command: now 0.76 open; starts closing at +0.03 s and is shut (0.00) at +0.47 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5162, - -0.101, - 0.8642 - ], - "grasp_site_now_uv": [ - 369.0, - 261.5 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5389, - -0.0891, - 0.8034 - ], - "grasp_site_at_shut_uv": [ - 361.7, - 264.4 - ], - "shut_in_top_view": true, - "close_onset_frame": 1, - "close_done_frame": 14, - "path_len_cm": 12.1, - "path_uv_every_3_frames": [ - [ - 358.1, - 269.1 - ], - [ - 350.2, - 275.0 - ], - [ - 345.4, - 277.6 - ], - [ - 347.6, - 276.1 - ], - [ - 354.2, - 271.1 - ], - [ - 361.7, - 264.4 - ], - [ - 361.7, - 264.4 - ], - [ - 361.7, - 264.4 - ], - [ - 361.7, - 264.4 - ], - [ - 361.7, - 264.4 - ], - [ - 361.7, - 264.4 - ], - [ - 361.7, - 264.4 - ], - [ - 361.7, - 264.4 - ], - [ - 361.7, - 264.4 - ], - [ - 361.7, - 264.4 - ], - [ - 361.7, - 264.4 - ], - [ - 361.7, - 264.4 - ], - [ - 361.7, - 264.4 - ], - [ - 361.7, - 264.4 - 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0.9066, - -0.4066, - 0.18688, - -1.21191, - 0.0, - 0.10887, - 1.53091, - 0.9985, - -0.34665, - -0.14114, - 0.09511, - 0.68227 - ] - ], - "state_t": [ - -0.48886, - 1.64321, - 1.0977, - -0.35229, - 0.56249, - -1.13165, - 0.58056, - -0.23556, - 1.77329, - 1.39143, - -0.4736, - 0.37404, - 0.1276, - 0.03775 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +4.1 cm forward, +22.0 cm to the robot's left and -4.2 cm up from where it is now (path length 38.4 cm); in the top camera that is -93 px right and -6 px down. Gripper command: now 0.68 open; starts closing at +0.97 s and is shut (0.00) at +1.47 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5767, - 0.0349, - 0.8812 - ], - "grasp_site_now_uv": [ - 294.2, - 235.9 - ], - "grasp_site_at_shut_xyz_m": [ - 0.618, - 0.2548, - 0.8387 - ], - "grasp_site_at_shut_uv": [ - 201.1, - 230.0 - ], - "shut_in_top_view": true, - "close_onset_frame": 29, - "close_done_frame": 44, - "path_len_cm": 38.4, - "path_uv_every_3_frames": [ - [ - 289.9, - 227.0 - ], - [ - 274.7, - 223.4 - ], - [ - 252.7, - 224.6 - ], - [ - 227.7, - 229.9 - ], - [ - 206.4, - 240.7 - ], - [ - 189.5, - 249.3 - ], - [ - 183.6, - 251.7 - ], - [ - 182.7, - 251.0 - ], - [ - 186.2, - 249.5 - ], - [ - 192.5, - 247.0 - ], - [ - 194.8, - 245.2 - ], - [ - 197.9, - 243.1 - ], - [ - 199.7, - 241.2 - ], - [ - 199.7, - 238.2 - ], - [ - 199.7, - 234.1 - ], - [ - 201.1, - 230.0 - ], - [ - 201.1, - 230.0 - ], - [ - 201.1, - 230.0 - ], - [ - 201.1, - 230.0 - 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By the time the jaws shut, the gripper site has moved -10.0 cm forward, +11.5 cm to the robot's left and +8.2 cm up from where it is now (path length 25.5 cm); in the top camera that is -48 px right and +20 px down. Gripper command: now 0.89 open; starts closing at +1.07 s and is shut (0.00) at +1.67 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4873, - -0.069, - 1.0393 - ], - "grasp_site_now_uv": [ - 348.4, - 235.8 - ], - "grasp_site_at_shut_xyz_m": [ - 0.3877, - 0.0464, - 1.121 - ], - "grasp_site_at_shut_uv": [ - 300.5, - 255.5 - ], - "shut_in_top_view": true, - "close_onset_frame": 32, - "close_done_frame": 50, - "path_len_cm": 25.5, - "path_uv_every_3_frames": [ - [ - 350.6, - 236.5 - ], - [ - 343.1, - 242.4 - ], - [ - 338.6, - 245.8 - ], - [ - 334.1, - 254.0 - ], - [ - 329.6, - 260.9 - ], - [ - 325.1, - 266.4 - ], - [ - 320.5, - 267.3 - ], - [ - 315.2, - 266.4 - ], - [ - 310.3, - 266.2 - ], - [ - 306.1, - 266.7 - ], - [ - 302.2, - 267.9 - ], - [ - 299.9, - 266.7 - ], - [ - 298.9, - 265.1 - ], - [ - 298.3, - 263.9 - ], - [ - 297.8, - 262.3 - ], - [ - 298.4, - 260.4 - ], - [ - 299.5, - 257.8 - ], - [ - 300.5, - 255.5 - ], - [ - 300.5, - 255.5 - 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By the time the jaws shut, the gripper site has moved -2.2 cm forward, -0.1 cm to the robot's left and +3.6 cm up from where it is now (path length 4.1 cm); in the top camera that is -2 px right and -4 px down. Gripper command: now 0.56 open; starts closing at +0.07 s and is shut (0.02) at +0.93 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4888, - 0.0556, - 1.2001 - ], - "grasp_site_now_uv": [ - 385.2, - 172.9 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4668, - 0.0548, - 1.2357 - ], - "grasp_site_at_shut_uv": [ - 383.2, - 169.2 - ], - "shut_in_top_view": true, - "close_onset_frame": 2, - "close_done_frame": 28, - "path_len_cm": 4.1, - "path_uv_every_3_frames": [ - [ - 383.9, - 165.4 - ], - [ - 383.9, - 164.8 - ], - [ - 381.8, - 164.3 - ], - [ - 378.7, - 165.5 - ], - [ - 377.3, - 165.5 - ], - [ - 377.6, - 165.4 - ], - [ - 378.4, - 164.4 - ], - [ - 378.9, - 164.0 - ], - [ - 380.4, - 166.8 - ], - [ - 382.9, - 168.2 - ], - [ - 383.2, - 169.2 - ], - [ - 383.2, - 169.2 - ], - [ - 383.2, - 169.2 - ], - [ - 383.2, - 169.2 - ], - [ - 383.2, - 169.2 - ], - [ - 383.2, - 169.2 - ], - [ - 383.2, - 169.2 - ], - [ - 383.2, - 169.2 - ], - [ - 383.2, - 169.2 - ], - 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0.51388, - 0.31796, - 0.09382, - -0.7777, - 0.65098, - 0.52353, - 2.18911, - 2.04452, - -0.06769, - 0.65181, - -0.32268, - 0.00512 - ], - [ - 0.04142, - 0.88291, - 0.51388, - 0.31796, - 0.09382, - -0.7777, - 0.65098, - 0.52353, - 2.18911, - 2.04452, - -0.06769, - 0.65181, - -0.32268, - 0.00512 - ] - ], - "state_t": [ - 0.04253, - 0.87911, - 0.52586, - 0.2306, - 0.06695, - -0.76352, - 0.65145, - 0.59644, - 2.13951, - 1.98577, - -0.12646, - 0.71126, - -0.24701, - 0.63079 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +3.0 cm forward, -2.5 cm to the robot's left and +0.7 cm up from where it is now (path length 11.1 cm); in the top camera that is +10 px right and -11 px down. Gripper command: now 0.63 open; starts closing at +0.00 s and is shut (0.01) at +1.20 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.8181, - -0.0601, - 1.0521 - ], - "grasp_site_now_uv": [ - 344.2, - 110.0 - ], - "grasp_site_at_shut_xyz_m": [ - 0.8484, - -0.0851, - 1.0591 - ], - "grasp_site_at_shut_uv": [ - 354.3, - 99.1 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 36, - "path_len_cm": 11.1, - "path_uv_every_3_frames": [ - [ - 349.4, - 104.6 - ], - [ - 350.8, - 105.5 - ], - [ - 352.5, - 106.2 - ], - [ - 354.3, - 106.3 - ], - [ - 355.3, - 106.3 - ], - [ - 356.0, - 106.6 - ], - [ - 356.5, - 107.0 - ], - [ - 356.7, - 107.7 - ], - [ - 356.2, - 107.7 - ], - [ - 356.1, - 107.3 - ], - [ - 355.9, - 106.5 - ], - [ - 355.2, - 103.0 - ], - [ - 354.3, - 99.1 - ], - [ - 354.3, - 99.1 - ], - [ - 354.3, - 99.1 - ], - [ - 354.3, - 99.1 - ], - [ - 354.3, - 99.1 - ], - [ - 354.3, - 99.1 - ], - [ - 354.3, - 99.1 - ], - [ - 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By the time the jaws shut, the gripper site has moved -1.7 cm forward, -0.8 cm to the robot's left and -0.8 cm up from where it is now (path length 3.6 cm); in the top camera that is +3 px right and +8 px down. Gripper command: now 0.51 open; starts closing at +0.23 s and is shut (0.05) at +1.00 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5135, - -0.0437, - 0.8396 - ], - "grasp_site_now_uv": [ - 342.6, - 267.5 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4965, - -0.0513, - 0.8317 - ], - "grasp_site_at_shut_uv": [ - 346.1, - 275.9 - ], - "shut_in_top_view": true, - "close_onset_frame": 7, - "close_done_frame": 30, - "path_len_cm": 3.6, - "path_uv_every_3_frames": [ - [ - 345.6, - 277.5 - ], - [ - 346.5, - 278.6 - ], - [ - 347.3, - 278.4 - ], - [ - 348.9, - 278.8 - ], - [ - 350.0, - 278.8 - ], - [ - 350.0, - 278.7 - ], - [ - 349.7, - 279.5 - ], - [ - 349.7, - 280.2 - ], - [ - 349.3, - 280.6 - ], - [ - 347.4, - 279.3 - ], - [ - 346.1, - 275.9 - ], - [ - 346.1, - 275.9 - ], - [ - 346.1, - 275.9 - ], - [ - 346.1, - 275.9 - ], - [ - 346.1, - 275.9 - ], - [ - 346.1, - 275.9 - ], - [ - 346.1, - 275.9 - ], - [ - 346.1, - 275.9 - ], - [ - 346.1, - 275.9 - 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By the time the jaws shut, the gripper site has moved +1.5 cm forward, +14.0 cm to the robot's left and -5.3 cm up from where it is now (path length 20.3 cm); in the top camera that is -70 px right and +11 px down. Gripper command: now 0.76 open; starts closing at +1.00 s and is shut (0.56) at +2.43 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.562, - -0.0464, - 1.1132 - ], - "grasp_site_now_uv": [ - 341.6, - 180.0 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5772, - 0.0937, - 1.0604 - ], - "grasp_site_at_shut_uv": [ - 271.5, - 190.5 - ], - "shut_in_top_view": true, - "close_onset_frame": 30, - "close_done_frame": 73, - "path_len_cm": 20.3, - "path_uv_every_3_frames": [ - [ - 338.2, - 179.2 - ], - [ - 333.2, - 180.8 - ], - [ - 327.2, - 183.5 - ], - [ - 321.0, - 187.1 - ], - [ - 315.6, - 190.7 - ], - [ - 308.0, - 193.2 - ], - [ - 298.4, - 195.1 - ], - [ - 290.8, - 195.8 - ], - [ - 285.6, - 195.0 - ], - [ - 283.2, - 193.2 - ], - [ - 281.2, - 192.0 - ], - [ - 278.5, - 191.9 - ], - [ - 276.3, - 192.6 - ], - [ - 273.9, - 192.7 - ], - [ - 270.6, - 192.3 - ], - [ - 268.6, - 192.6 - ], - [ - 268.0, - 193.1 - ], - [ - 267.4, - 193.7 - ], - [ - 267.7, - 194.0 - 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0.02342, - 0.09042, - -0.83171, - 0.98569, - 0.79872, - 2.11289, - 1.36232, - 0.07397, - 0.21401, - 0.24358, - 0.2148 - ], - [ - -0.12405, - 0.79877, - 0.40865, - 0.02342, - 0.09042, - -0.83171, - 0.98569, - 0.79872, - 2.11289, - 1.36232, - 0.07397, - 0.21401, - 0.24358, - 0.2148 - ] - ], - "state_t": [ - -0.12531, - 1.57492, - 1.20603, - -0.1318, - 0.15774, - -0.61017, - 0.98323, - 0.69715, - 1.69356, - 0.9432, - 0.1627, - 0.03567, - 0.26761, - 0.7242 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +5.1 cm forward, +7.8 cm to the robot's left and -5.1 cm up from where it is now (path length 14.1 cm); in the top camera that is -29 px right and -6 px down. Gripper command: now 0.72 open; starts closing at +0.20 s and is shut (0.21) at +0.77 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.6209, - -0.0094, - 0.8676 - ], - "grasp_site_now_uv": [ - 326.3, - 221.8 - ], - "grasp_site_at_shut_xyz_m": [ - 0.6715, - 0.0686, - 0.8166 - ], - "grasp_site_at_shut_uv": [ - 297.3, - 216.2 - ], - "shut_in_top_view": true, - "close_onset_frame": 6, - "close_done_frame": 23, - "path_len_cm": 14.1, - "path_uv_every_3_frames": [ - [ - 316.5, - 216.4 - ], - [ - 309.6, - 218.1 - ], - [ - 303.7, - 220.6 - ], - [ - 298.6, - 222.4 - ], - [ - 295.7, - 222.9 - ], - [ - 295.7, - 222.0 - ], - [ - 297.2, - 221.0 - ], - [ - 297.7, - 219.3 - ], - [ - 297.3, - 216.2 - ], - [ - 297.3, - 216.2 - ], - [ - 297.3, - 216.2 - ], - [ - 297.3, - 216.2 - ], - [ - 297.3, - 216.2 - ], - [ - 297.3, - 216.2 - ], - [ - 297.3, - 216.2 - ], - [ - 297.3, - 216.2 - ], - [ - 297.3, - 216.2 - ], - [ - 297.3, - 216.2 - ], - [ - 297.3, - 216.2 - 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], - [ - -0.45415, - 1.51864, - 1.37532, - -0.10543, - 0.63855, - -0.80657, - 0.2244, - 0.80612, - 1.45695, - 1.36115, - -0.42415, - 0.09688, - 0.18695, - 0.61047 - ], - [ - -0.45415, - 1.51864, - 1.37532, - -0.10543, - 0.63855, - -0.80657, - 0.2244, - 0.80612, - 1.45695, - 1.36115, - -0.42415, - 0.09688, - 0.18695, - 0.61047 - ], - [ - -0.45415, - 1.51864, - 1.37532, - -0.10543, - 0.63855, - -0.80657, - 0.2244, - 0.80612, - 1.45695, - 1.36115, - -0.42415, - 0.09688, - 0.18695, - 0.61047 - ] - ], - "state_t": [ - -0.44079, - 1.51694, - 1.351, - -0.1524, - 0.5766, - -0.82113, - 0.64009, - 0.78603, - 1.44408, - 1.31628, - -0.42515, - 0.11349, - 0.19703, - 0.5404 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -0.9 cm forward, -1.2 cm to the robot's left and +2.2 cm up from where it is now (path length 2.0 cm); in the top camera that is +6 px right and -4 px down. Gripper command: now 0.63 open; starts closing at +0.00 s and is shut (0.22) at +0.80 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.6317, - 0.0286, - 1.0786 - ], - "grasp_site_now_uv": [ - 308.3, - 165.5 - ], - "grasp_site_at_shut_xyz_m": [ - 0.6226, - 0.0166, - 1.1002 - ], - "grasp_site_at_shut_uv": [ - 313.8, - 161.8 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 24, - "path_len_cm": 2.0, - "path_uv_every_3_frames": [ - [ - 309.7, - 160.8 - ], - [ - 311.5, - 162.0 - ], - [ - 311.9, - 161.9 - ], - [ - 311.9, - 161.4 - ], - [ - 312.2, - 161.5 - ], - [ - 313.5, - 162.5 - ], - [ - 314.8, - 163.4 - ], - [ - 314.8, - 162.9 - ], - [ - 313.8, - 161.8 - ], - [ - 313.8, - 161.8 - ], - [ - 313.8, - 161.8 - ], - [ - 313.8, - 161.8 - ], - [ - 313.8, - 161.8 - ], - [ - 313.8, - 161.8 - ], - [ - 313.8, - 161.8 - ], - [ - 313.8, - 161.8 - ], - [ - 313.8, - 161.8 - ], - [ - 313.8, - 161.8 - ], - [ - 313.8, - 161.8 - ], - 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By the time the jaws shut, the gripper site has moved +5.4 cm forward, +31.3 cm to the robot's left and -10.5 cm up from where it is now (path length 59.2 cm); in the top camera that is -126 px right and +4 px down. Gripper command: now 0.99 open; starts closing at +1.73 s and is shut (0.00) at +3.67 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5483, - -0.0143, - 0.9784 - ], - "grasp_site_now_uv": [ - 317.6, - 224.7 - ], - "grasp_site_at_shut_xyz_m": [ - 0.6026, - 0.2988, - 0.8739 - ], - "grasp_site_at_shut_uv": [ - 191.4, - 228.9 - ], - "shut_in_top_view": true, - "close_onset_frame": 52, - "close_done_frame": 110, - "path_len_cm": 59.2, - "path_uv_every_3_frames": [ - [ - 316.6, - 217.3 - ], - [ - 316.6, - 216.2 - ], - [ - 316.5, - 215.2 - ], - [ - 316.1, - 214.2 - ], - [ - 315.4, - 213.2 - ], - [ - 314.5, - 211.7 - ], - [ - 313.0, - 209.8 - ], - [ - 310.8, - 206.7 - ], - [ - 307.5, - 202.0 - ], - [ - 303.4, - 196.7 - ], - [ - 297.5, - 190.6 - ], - [ - 290.2, - 183.7 - ], - [ - 280.7, - 176.8 - ], - [ - 268.9, - 170.3 - ], - [ - 255.4, - 166.3 - ], - [ - 241.6, - 165.1 - ], - [ - 226.8, - 166.1 - ], - [ - 213.5, - 169.4 - ], - [ - 205.0, - 174.2 - 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By the time the jaws shut, the gripper site has moved -4.2 cm forward, -3.4 cm to the robot's left and -10.1 cm up from where it is now (path length 20.5 cm); in the top camera that is +6 px right and +38 px down. Gripper command: now 0.77 open; starts closing at +1.10 s and is shut (0.53) at +1.70 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.6441, - -0.2971, - 0.9031 - ], - "grasp_site_now_uv": [ - 455.5, - 204.5 - ], - "grasp_site_at_shut_xyz_m": [ - 0.6016, - -0.3306, - 0.8024 - ], - "grasp_site_at_shut_uv": [ - 461.0, - 242.8 - ], - "shut_in_top_view": true, - "close_onset_frame": 33, - "close_done_frame": 51, - "path_len_cm": 20.5, - "path_uv_every_3_frames": [ - [ - 460.2, - 203.7 - ], - [ - 447.0, - 210.8 - ], - [ - 447.5, - 219.7 - ], - [ - 451.1, - 225.9 - ], - [ - 454.1, - 228.0 - ], - [ - 456.5, - 231.5 - ], - [ - 456.0, - 234.1 - ], - [ - 455.0, - 234.1 - ], - [ - 453.9, - 233.1 - ], - [ - 453.6, - 231.4 - ], - [ - 453.6, - 231.0 - ], - [ - 454.9, - 232.7 - ], - [ - 455.8, - 234.5 - ], - [ - 456.7, - 236.5 - ], - [ - 457.1, - 238.4 - ], - [ - 458.4, - 240.6 - ], - [ - 459.1, - 243.0 - ], - [ - 461.0, - 242.8 - ], - [ - 461.0, - 242.8 - 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By the time the jaws shut, the gripper site has moved +10.1 cm forward, -3.3 cm to the robot's left and -13.0 cm up from where it is now (path length 19.9 cm); in the top camera that is +8 px right and -6 px down. Gripper command: now 0.91 open; starts closing at +0.00 s and is shut (0.00) at +0.93 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.486, - -0.0722, - 1.1113 - ], - "grasp_site_now_uv": [ - 363.8, - 208.0 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5875, - -0.1048, - 0.9809 - ], - "grasp_site_at_shut_uv": [ - 371.7, - 202.5 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 28, - "path_len_cm": 19.9, - "path_uv_every_3_frames": [ - [ - 370.8, - 195.7 - ], - [ - 373.4, - 185.2 - ], - [ - 374.0, - 181.5 - ], - [ - 370.0, - 186.6 - ], - [ - 368.1, - 190.4 - ], - [ - 366.7, - 192.0 - ], - [ - 366.4, - 193.0 - ], - [ - 367.1, - 196.9 - ], - [ - 368.8, - 200.6 - ], - [ - 371.2, - 202.1 - ], - [ - 371.7, - 202.5 - ], - [ - 371.7, - 202.5 - ], - [ - 371.7, - 202.5 - ], - [ - 371.7, - 202.5 - ], - [ - 371.7, - 202.5 - ], - [ - 371.7, - 202.5 - ], - [ - 371.7, - 202.5 - ], - [ - 371.7, - 202.5 - ], - [ - 371.7, - 202.5 - 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By the time the jaws shut, the gripper site has moved +4.6 cm forward, -1.9 cm to the robot's left and -4.7 cm up from where it is now (path length 8.4 cm); in the top camera that is +13 px right and -4 px down. Gripper command: now 1.00 open; starts closing at +0.17 s and is shut (0.24) at +1.17 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.656, - 0.1799, - 0.8841 - ], - "grasp_site_now_uv": [ - 347.7, - 204.4 - ], - "grasp_site_at_shut_xyz_m": [ - 0.7017, - 0.1604, - 0.8369 - ], - "grasp_site_at_shut_uv": [ - 360.2, - 200.0 - ], - "shut_in_top_view": true, - "close_onset_frame": 5, - "close_done_frame": 35, - "path_len_cm": 8.4, - "path_uv_every_3_frames": [ - [ - 348.2, - 194.6 - ], - [ - 350.2, - 192.9 - ], - [ - 352.0, - 191.0 - ], - [ - 353.4, - 192.5 - ], - [ - 354.3, - 193.4 - ], - [ - 356.7, - 197.1 - ], - [ - 357.4, - 198.2 - ], - [ - 358.2, - 199.6 - ], - [ - 359.0, - 201.5 - ], - [ - 359.9, - 200.8 - ], - [ - 360.4, - 201.0 - ], - [ - 360.6, - 200.1 - ], - [ - 360.2, - 200.0 - ], - [ - 360.2, - 200.0 - ], - [ - 360.2, - 200.0 - ], - [ - 360.2, - 200.0 - ], - [ - 360.2, - 200.0 - ], - [ - 360.2, - 200.0 - ], - [ - 360.2, - 200.0 - ], - 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By the time the jaws shut, the gripper site has moved -12.8 cm forward, +8.5 cm to the robot's left and -10.5 cm up from where it is now (path length 70.2 cm); in the top camera that is -39 px right and +73 px down. Gripper command: now 0.59 open; starts closing at +1.47 s and is shut (0.00) at +3.50 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.7028, - -0.1619, - 0.9429 - ], - "grasp_site_now_uv": [ - 395.4, - 174.9 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5745, - -0.0768, - 0.8382 - ], - "grasp_site_at_shut_uv": [ - 356.3, - 248.1 - ], - "shut_in_top_view": true, - "close_onset_frame": 44, - "close_done_frame": 105, - "path_len_cm": 70.2, - "path_uv_every_3_frames": [ - [ - 377.8, - 170.7 - ], - [ - 358.3, - 187.7 - ], - [ - 356.3, - 206.3 - ], - [ - 360.4, - 227.3 - ], - [ - 371.5, - 238.6 - ], - [ - 381.9, - 242.6 - ], - [ - 393.2, - 241.4 - ], - [ - 406.1, - 239.9 - ], - [ - 417.5, - 239.9 - ], - [ - 430.4, - 238.2 - ], - [ - 436.4, - 239.9 - ], - [ - 439.2, - 240.9 - ], - [ - 440.4, - 241.2 - ], - [ - 441.1, - 242.0 - ], - [ - 442.0, - 242.9 - ], - [ - 439.4, - 245.6 - ], - [ - 432.3, - 255.2 - ], - [ - 425.5, - 257.4 - ], - [ - 410.1, - 255.5 - 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By the time the jaws shut, the gripper site has moved -6.8 cm forward, +5.0 cm to the robot's left and -13.3 cm up from where it is now (path length 24.1 cm); in the top camera that is -23 px right and +57 px down. Gripper command: now 1.00 open; starts closing at +1.00 s and is shut (0.53) at +1.43 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.6367, - -0.0395, - 0.9363 - ], - "grasp_site_now_uv": [ - 345.2, - 200.8 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5683, - 0.0101, - 0.8034 - ], - "grasp_site_at_shut_uv": [ - 322.6, - 257.7 - ], - "shut_in_top_view": true, - "close_onset_frame": 30, - "close_done_frame": 43, - "path_len_cm": 24.1, - "path_uv_every_3_frames": [ - [ - 313.4, - 202.9 - ], - [ - 293.8, - 216.7 - ], - [ - 286.9, - 228.3 - ], - [ - 292.0, - 236.2 - ], - [ - 299.7, - 242.1 - ], - [ - 308.2, - 245.3 - ], - [ - 315.2, - 247.7 - ], - [ - 317.4, - 249.0 - ], - [ - 319.8, - 250.0 - ], - [ - 321.7, - 251.9 - ], - [ - 322.6, - 254.4 - ], - [ - 322.5, - 256.7 - ], - [ - 322.0, - 258.1 - ], - [ - 321.7, - 258.6 - ], - [ - 322.1, - 258.2 - ], - [ - 322.6, - 257.7 - ], - [ - 322.6, - 257.7 - ], - [ - 322.6, - 257.7 - ], - [ - 322.6, - 257.7 - 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By the time the jaws shut, the gripper site has moved +4.7 cm forward, -1.1 cm to the robot's left and -3.7 cm up from where it is now (path length 7.2 cm); in the top camera that is -2 px right and -9 px down. Gripper command: now 0.74 open; starts closing at +0.27 s and is shut (0.22) at +0.70 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5828, - -0.2883, - 0.8021 - ], - "grasp_site_now_uv": [ - 547.1, - 251.7 - ], - "grasp_site_at_shut_xyz_m": [ - 0.6295, - -0.2997, - 0.7648 - ], - "grasp_site_at_shut_uv": [ - 545.4, - 242.6 - ], - "shut_in_top_view": true, - "close_onset_frame": 8, - "close_done_frame": 21, - "path_len_cm": 7.2, - "path_uv_every_3_frames": [ - [ - 547.7, - 248.5 - ], - [ - 546.4, - 247.8 - ], - [ - 548.2, - 247.4 - ], - [ - 550.8, - 245.5 - ], - [ - 549.5, - 246.6 - ], - [ - 548.3, - 248.3 - ], - [ - 546.4, - 247.7 - ], - [ - 545.4, - 242.6 - ], - [ - 545.4, - 242.6 - ], - [ - 545.4, - 242.6 - ], - [ - 545.4, - 242.6 - ], - [ - 545.4, - 242.6 - ], - [ - 545.4, - 242.6 - ], - [ - 545.4, - 242.6 - ], - [ - 545.4, - 242.6 - ], - [ - 545.4, - 242.6 - ], - [ - 545.4, - 242.6 - ], - [ - 545.4, - 242.6 - ], - [ - 545.4, - 242.6 - 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-1.12707, - 0.00771, - 0.18978, - 0.51404, - 0.49992, - 0.05703, - -0.83104, - 1.00309, - 0.98524 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -4.1 cm forward, -4.0 cm to the robot's left and +9.3 cm up from where it is now (path length 17.4 cm); in the top camera that is +40 px right and -7 px down. Gripper command: now 0.98 open; starts closing at +0.20 s and is shut (0.19) at +1.57 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4491, - -0.1444, - 1.0584 - ], - "grasp_site_now_uv": [ - 408.2, - 245.9 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4082, - -0.1843, - 1.1512 - ], - "grasp_site_at_shut_uv": [ - 448.0, - 239.3 - ], - "shut_in_top_view": true, - "close_onset_frame": 6, - "close_done_frame": 47, - "path_len_cm": 17.4, - "path_uv_every_3_frames": [ - [ - 405.3, - 237.5 - ], - [ - 394.1, - 238.9 - ], - [ - 386.9, - 240.5 - ], - [ - 392.8, - 239.0 - ], - [ - 399.8, - 241.2 - ], - [ - 406.1, - 244.3 - ], - [ - 412.4, - 246.3 - ], - [ - 417.1, - 248.3 - ], - [ - 420.9, - 247.9 - ], - [ - 427.9, - 247.9 - ], - [ - 435.3, - 247.6 - ], - [ - 439.8, - 245.9 - ], - [ - 441.8, - 244.3 - ], - [ - 443.7, - 244.2 - ], - [ - 447.8, - 242.1 - ], - [ - 448.4, - 239.9 - ], - [ - 448.0, - 239.3 - ], - [ - 448.0, - 239.3 - ], - [ - 448.0, - 239.3 - 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"plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +6.6 cm forward, +1.8 cm to the robot's left and -4.4 cm up from where it is now (path length 17.4 cm); in the top camera that is -6 px right and -16 px down. Gripper command: now 1.00 open; starts closing at +0.00 s and is shut (0.00) at +0.33 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5266, - 0.0732, - 1.0033 - ], - "grasp_site_now_uv": [ - 284.4, - 223.2 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5922, - 0.0916, - 0.9593 - ], - "grasp_site_at_shut_uv": [ - 278.6, - 207.7 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 10, - "path_len_cm": 17.4, - "path_uv_every_3_frames": [ - [ - 281.6, - 225.5 - ], - [ - 279.4, - 235.0 - ], - [ - 279.9, - 231.2 - ], - [ - 279.7, - 212.2 - ], - [ - 278.6, - 207.7 - ], - [ - 278.6, - 207.7 - ], - [ - 278.6, - 207.7 - ], - [ - 278.6, - 207.7 - ], - [ - 278.6, - 207.7 - ], - [ - 278.6, - 207.7 - ], - [ - 278.6, - 207.7 - ], - [ - 278.6, - 207.7 - ], - [ - 278.6, - 207.7 - ], - [ - 278.6, - 207.7 - ], - [ - 278.6, - 207.7 - ], - [ - 278.6, - 207.7 - ], - [ - 278.6, - 207.7 - ], - [ - 278.6, - 207.7 - ], - [ - 278.6, - 207.7 - 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], - [ - -1.04771, - 0.95872, - 0.49546, - 0.34361, - -0.51694, - -0.23623, - 0.97809, - 0.04749, - 1.74259, - 1.3742, - 0.04771, - 0.26691, - 0.0906, - 0.07747 - ], - [ - -1.04771, - 0.95872, - 0.49546, - 0.34361, - -0.51694, - -0.23623, - 0.97809, - 0.04749, - 1.74259, - 1.3742, - 0.04771, - 0.26691, - 0.0906, - 0.07747 - ] - ], - "state_t": [ - -1.04849, - 0.96227, - 0.49611, - 0.33131, - -0.51404, - -0.24434, - 0.9792, - -0.28439, - 1.69051, - 1.16903, - 0.23365, - -0.49115, - 0.58423, - 0.54225 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +3.2 cm forward, +4.7 cm to the robot's left and +2.4 cm up from where it is now (path length 13.4 cm); in the top camera that is -20 px right and -19 px down. Gripper command: now 0.56 open; starts closing at +1.23 s and is shut (0.08) at +1.87 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.7631, - -0.3757, - 0.9925 - ], - "grasp_site_now_uv": [ - 480.3, - 137.8 - ], - "grasp_site_at_shut_xyz_m": [ - 0.7952, - -0.3291, - 1.0168 - ], - "grasp_site_at_shut_uv": [ - 460.0, - 119.1 - ], - "shut_in_top_view": true, - "close_onset_frame": 37, - "close_done_frame": 56, - "path_len_cm": 13.4, - "path_uv_every_3_frames": [ - [ - 485.4, - 124.9 - ], - [ - 486.7, - 123.8 - ], - [ - 485.9, - 124.0 - ], - [ - 484.3, - 124.4 - ], - [ - 483.3, - 124.3 - ], - [ - 481.3, - 125.0 - ], - [ - 478.6, - 124.8 - ], - [ - 478.4, - 124.9 - ], - [ - 476.2, - 124.9 - ], - [ - 473.4, - 125.5 - ], - [ - 471.1, - 126.4 - ], - [ - 467.6, - 126.9 - ], - [ - 467.0, - 128.6 - ], - [ - 467.5, - 131.6 - ], - [ - 468.8, - 132.7 - ], - [ - 468.0, - 133.4 - ], - [ - 467.1, - 132.8 - ], - [ - 462.0, - 128.3 - ], - [ - 460.5, - 125.5 - 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By the time the jaws shut, the gripper site has moved -0.0 cm forward, +11.1 cm to the robot's left and +15.4 cm up from where it is now (path length 18.6 cm); in the top camera that is -56 px right and -49 px down. Gripper command: now 0.99 open; starts closing at +0.13 s and is shut (0.00) at +1.93 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4807, - -0.1481, - 1.0061 - ], - "grasp_site_now_uv": [ - 506.0, - 246.8 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4804, - -0.0372, - 1.1603 - ], - "grasp_site_at_shut_uv": [ - 450.0, - 197.8 - ], - "shut_in_top_view": true, - "close_onset_frame": 4, - "close_done_frame": 58, - "path_len_cm": 18.6, - "path_uv_every_3_frames": [ - [ - 498.5, - 234.5 - ], - [ - 493.7, - 231.7 - ], - [ - 488.9, - 230.4 - ], - [ - 486.4, - 226.6 - ], - [ - 481.6, - 218.6 - ], - [ - 478.2, - 212.2 - ], - [ - 475.8, - 207.6 - ], - [ - 472.8, - 205.7 - ], - [ - 470.1, - 205.3 - ], - [ - 466.5, - 204.5 - ], - [ - 464.0, - 202.8 - ], - [ - 460.5, - 201.1 - ], - [ - 457.1, - 198.9 - ], - [ - 455.8, - 196.1 - ], - [ - 453.6, - 194.0 - ], - [ - 451.6, - 192.9 - ], - [ - 449.2, - 193.1 - ], - [ - 448.1, - 194.3 - ], - [ - 448.8, - 195.9 - 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By the time the jaws shut, the gripper site has moved +4.7 cm forward, -1.7 cm to the robot's left and -0.7 cm up from where it is now (path length 8.3 cm); in the top camera that is +8 px right and -14 px down. Gripper command: now 0.59 open; starts closing at +0.17 s and is shut (0.00) at +0.60 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5135, - 0.0897, - 1.0206 - ], - "grasp_site_now_uv": [ - 286.2, - 224.1 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5603, - 0.0725, - 1.0136 - ], - "grasp_site_at_shut_uv": [ - 294.3, - 209.9 - ], - "shut_in_top_view": true, - "close_onset_frame": 5, - "close_done_frame": 18, - "path_len_cm": 8.3, - "path_uv_every_3_frames": [ - [ - 289.8, - 214.8 - ], - [ - 286.3, - 213.0 - ], - [ - 280.1, - 212.4 - ], - [ - 276.8, - 213.1 - ], - [ - 279.3, - 214.0 - ], - [ - 285.3, - 211.9 - ], - [ - 294.3, - 209.9 - ], - [ - 294.3, - 209.9 - ], - [ - 294.3, - 209.9 - ], - [ - 294.3, - 209.9 - ], - [ - 294.3, - 209.9 - ], - [ - 294.3, - 209.9 - ], - [ - 294.3, - 209.9 - ], - [ - 294.3, - 209.9 - ], - [ - 294.3, - 209.9 - ], - [ - 294.3, - 209.9 - ], - [ - 294.3, - 209.9 - ], - [ - 294.3, - 209.9 - ], - [ - 294.3, - 209.9 - ], - 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1.04001, - -0.6695, - 0.07839, - -0.23034, - 0.02608, - 0.18983, - 0.20553, - 0.77891, - -0.5559, - 0.18559, - 0.28997, - 0.99122 - ], - [ - -0.37429, - 1.69152, - 1.04001, - -0.6695, - 0.07839, - -0.23034, - 0.02608, - 0.18983, - 0.20553, - 0.77891, - -0.5559, - 0.18559, - 0.28997, - 0.99122 - ], - [ - -0.37429, - 1.69152, - 1.04001, - -0.6695, - 0.07839, - -0.23034, - 0.02608, - 0.18983, - 0.20553, - 0.77891, - -0.5559, - 0.18559, - 0.28997, - 0.99122 - ] - ], - "state_t": [ - -0.38663, - 1.60086, - 0.8299, - -0.11807, - 0.07572, - -0.79557, - 0.95631, - 0.15545, - 0.13142, - 0.72843, - -0.55257, - 0.3172, - 0.22984, - 0.99001 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -5.0 cm forward, +2.4 cm to the robot's left and -2.2 cm up from where it is now (path length 25.4 cm); in the top camera that is -10 px right and +20 px down. Gripper command: now 0.95 open; starts closing at +0.13 s and is shut (0.03) at +2.40 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.6171, - 0.1477, - 0.8111 - ], - "grasp_site_now_uv": [ - 264.4, - 233.5 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5671, - 0.1721, - 0.7893 - ], - "grasp_site_at_shut_uv": [ - 254.8, - 253.9 - ], - "shut_in_top_view": true, - "close_onset_frame": 4, - "close_done_frame": 72, - "path_len_cm": 25.4, - "path_uv_every_3_frames": [ - [ - 266.8, - 224.6 - ], - [ - 258.1, - 224.9 - ], - [ - 248.1, - 230.2 - ], - [ - 243.1, - 235.9 - ], - [ - 240.8, - 241.8 - ], - [ - 240.8, - 246.9 - ], - [ - 241.8, - 252.2 - ], - [ - 242.9, - 254.8 - ], - [ - 243.5, - 254.4 - ], - [ - 245.1, - 255.0 - ], - [ - 246.3, - 257.0 - ], - [ - 247.2, - 258.4 - ], - [ - 248.7, - 260.3 - ], - [ - 249.2, - 261.6 - ], - [ - 249.4, - 261.7 - ], - [ - 249.4, - 260.9 - ], - [ - 249.7, - 260.4 - ], - [ - 249.5, - 260.8 - ], - [ - 248.9, - 260.9 - 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By the time the jaws shut, the gripper site has moved +3.1 cm forward, -1.2 cm to the robot's left and -3.5 cm up from where it is now (path length 5.6 cm); in the top camera that is +7 px right and -5 px down. Gripper command: now 0.99 open; starts closing at +0.03 s and is shut (0.47) at +0.70 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4933, - 0.0401, - 0.9756 - ], - "grasp_site_now_uv": [ - 404.8, - 246.5 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5239, - 0.0278, - 0.9403 - ], - "grasp_site_at_shut_uv": [ - 411.9, - 241.9 - ], - "shut_in_top_view": true, - "close_onset_frame": 1, - "close_done_frame": 21, - "path_len_cm": 5.6, - "path_uv_every_3_frames": [ - [ - 409.9, - 240.6 - ], - [ - 411.3, - 241.8 - ], - [ - 412.5, - 242.7 - ], - [ - 414.8, - 243.1 - ], - [ - 415.1, - 243.6 - ], - [ - 414.7, - 243.1 - ], - [ - 414.2, - 243.0 - ], - [ - 411.9, - 241.9 - ], - [ - 411.9, - 241.9 - ], - [ - 411.9, - 241.9 - ], - [ - 411.9, - 241.9 - ], - [ - 411.9, - 241.9 - ], - [ - 411.9, - 241.9 - ], - [ - 411.9, - 241.9 - ], - [ - 411.9, - 241.9 - ], - [ - 411.9, - 241.9 - ], - [ - 411.9, - 241.9 - ], - [ - 411.9, - 241.9 - ], - [ - 411.9, - 241.9 - ], - 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By the time the jaws shut, the gripper site has moved -4.7 cm forward, +5.4 cm to the robot's left and -1.0 cm up from where it is now (path length 6.6 cm); in the top camera that is -22 px right and +19 px down. Gripper command: now 0.78 open; starts closing at +0.00 s and is shut (0.01) at +1.33 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.6272, - -0.1941, - 0.9788 - ], - "grasp_site_now_uv": [ - 403.9, - 192.2 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5804, - -0.1406, - 0.9689 - ], - "grasp_site_at_shut_uv": [ - 381.7, - 211.5 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 40, - "path_len_cm": 6.6, - "path_uv_every_3_frames": [ - [ - 399.8, - 192.7 - ], - [ - 397.9, - 194.9 - ], - [ - 396.1, - 197.0 - ], - [ - 392.5, - 200.0 - ], - [ - 388.8, - 201.9 - ], - [ - 387.5, - 204.2 - ], - [ - 386.8, - 206.8 - ], - [ - 386.2, - 208.0 - ], - [ - 385.0, - 208.9 - ], - [ - 383.7, - 209.8 - ], - [ - 383.3, - 210.2 - ], - [ - 382.8, - 210.4 - ], - [ - 382.2, - 211.2 - ], - [ - 381.7, - 211.9 - ], - [ - 381.7, - 211.5 - ], - [ - 381.7, - 211.5 - ], - [ - 381.7, - 211.5 - ], - [ - 381.7, - 211.5 - ], - [ - 381.7, - 211.5 - 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By the time the jaws shut, the gripper site has moved +2.1 cm forward, -5.2 cm to the robot's left and +0.6 cm up from where it is now (path length 11.2 cm); in the top camera that is +27 px right and -11 px down. Gripper command: now 1.00 open; starts closing at +0.00 s and is shut (0.57) at +1.37 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4172, - 0.0796, - 1.004 - ], - "grasp_site_now_uv": [ - 285.8, - 275.5 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4379, - 0.0271, - 1.0101 - ], - "grasp_site_at_shut_uv": [ - 312.6, - 264.7 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 41, - "path_len_cm": 11.2, - "path_uv_every_3_frames": [ - [ - 288.8, - 268.8 - ], - [ - 292.0, - 266.6 - ], - [ - 297.2, - 265.6 - ], - [ - 303.0, - 265.3 - ], - [ - 308.7, - 266.2 - ], - [ - 313.3, - 267.2 - ], - [ - 317.5, - 268.4 - ], - [ - 320.4, - 269.0 - ], - [ - 320.6, - 268.4 - ], - [ - 319.3, - 267.2 - ], - [ - 318.4, - 266.0 - ], - [ - 317.6, - 265.2 - ], - [ - 316.1, - 265.0 - ], - [ - 313.6, - 264.7 - ], - [ - 312.6, - 264.7 - ], - [ - 312.6, - 264.7 - ], - [ - 312.6, - 264.7 - ], - [ - 312.6, - 264.7 - ], - [ - 312.6, - 264.7 - ], - 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By the time the jaws shut, the gripper site has moved +1.2 cm forward, +21.1 cm to the robot's left and -14.9 cm up from where it is now (path length 32.5 cm); in the top camera that is -80 px right and +24 px down. Gripper command: now 0.72 open; starts closing at +0.07 s and is shut (0.01) at +3.27 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4588, - 0.0943, - 0.9843 - ], - "grasp_site_now_uv": [ - 274.0, - 256.1 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4707, - 0.3057, - 0.8357 - ], - "grasp_site_at_shut_uv": [ - 193.6, - 279.8 - ], - "shut_in_top_view": true, - "close_onset_frame": 2, - "close_done_frame": 98, - "path_len_cm": 32.5, - "path_uv_every_3_frames": [ - [ - 271.0, - 260.9 - ], - [ - 265.8, - 264.4 - ], - [ - 254.5, - 269.0 - ], - [ - 241.4, - 271.7 - ], - [ - 231.5, - 270.7 - ], - [ - 222.7, - 270.8 - ], - [ - 213.7, - 273.9 - ], - [ - 207.6, - 275.3 - ], - [ - 203.4, - 274.5 - ], - [ - 200.5, - 273.4 - ], - [ - 196.7, - 271.7 - ], - [ - 194.3, - 270.5 - ], - [ - 194.6, - 271.3 - ], - [ - 195.9, - 272.6 - ], - [ - 196.1, - 273.0 - ], - [ - 196.3, - 273.3 - ], - [ - 195.8, - 274.5 - ], - [ - 194.6, - 276.4 - ], - [ - 193.6, - 278.4 - 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"plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -2.9 cm forward, +12.6 cm to the robot's left and +0.7 cm up from where it is now (path length 22.3 cm); in the top camera that is -71 px right and +10 px down. Gripper command: now 0.88 open; starts closing at +1.43 s and is shut (0.00) at +2.60 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5849, - -0.1462, - 1.102 - ], - "grasp_site_now_uv": [ - 405.0, - 166.0 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5564, - -0.02, - 1.1088 - ], - "grasp_site_at_shut_uv": [ - 334.4, - 176.1 - ], - "shut_in_top_view": true, - "close_onset_frame": 43, - "close_done_frame": 78, - "path_len_cm": 22.3, - "path_uv_every_3_frames": [ - [ - 408.3, - 159.5 - ], - [ - 408.3, - 159.5 - ], - [ - 409.2, - 158.2 - ], - [ - 407.4, - 158.8 - ], - [ - 407.5, - 157.7 - ], - [ - 407.8, - 157.0 - ], - [ - 409.0, - 156.0 - ], - [ - 412.2, - 154.3 - ], - [ - 413.6, - 151.5 - ], - [ - 410.8, - 150.6 - ], - [ - 403.8, - 151.2 - ], - [ - 392.6, - 155.8 - ], - [ - 386.2, - 158.0 - ], - [ - 379.2, - 162.6 - ], - [ - 375.2, - 162.7 - ], - [ - 369.3, - 163.1 - ], - [ - 361.5, - 165.1 - ], - [ - 355.5, - 168.1 - ], - [ - 350.0, - 170.7 - 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By the time the jaws shut, the gripper site has moved +1.2 cm forward, -1.3 cm to the robot's left and +11.6 cm up from where it is now (path length 12.5 cm); in the top camera that is +16 px right and -38 px down. Gripper command: now 0.90 open; starts closing at +0.07 s and is shut (0.08) at +0.43 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.926, - -0.334, - 0.869 - ], - "grasp_site_now_uv": [ - 436.7, - 124.8 - ], - "grasp_site_at_shut_xyz_m": [ - 0.9377, - -0.3468, - 0.985 - ], - "grasp_site_at_shut_uv": [ - 453.1, - 86.6 - ], - "shut_in_top_view": true, - "close_onset_frame": 2, - "close_done_frame": 13, - "path_len_cm": 12.5, - "path_uv_every_3_frames": [ - [ - 438.2, - 121.3 - ], - [ - 437.6, - 121.5 - ], - [ - 438.3, - 118.2 - ], - [ - 442.1, - 108.4 - ], - [ - 450.6, - 91.8 - ], - [ - 453.1, - 86.6 - ], - [ - 453.1, - 86.6 - ], - [ - 453.1, - 86.6 - ], - [ - 453.1, - 86.6 - ], - [ - 453.1, - 86.6 - ], - [ - 453.1, - 86.6 - ], - [ - 453.1, - 86.6 - ], - [ - 453.1, - 86.6 - ], - [ - 453.1, - 86.6 - ], - [ - 453.1, - 86.6 - ], - [ - 453.1, - 86.6 - ], - [ - 453.1, - 86.6 - ], - [ - 453.1, - 86.6 - ], - [ - 453.1, - 86.6 - ], - [ - 453.1, - 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0.41491 - ] - ], - "state_t": [ - -0.54646, - 1.11524, - 0.84058, - 0.1112, - 0.4221, - -0.34924, - 0.86909, - 1.40936, - 1.84615, - 1.24189, - 0.19894, - 0.94739, - 0.35077, - 0.80021 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -5.5 cm forward, -4.7 cm to the robot's left and +1.1 cm up from where it is now (path length 5.5 cm); in the top camera that is +17 px right and +15 px down. Gripper command: now 0.94 open; starts closing at +0.07 s and is shut (0.00) at +0.97 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5426, - 0.052, - 1.0551 - ], - "grasp_site_now_uv": [ - 303.4, - 208.4 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4873, - 0.0051, - 1.0664 - ], - "grasp_site_at_shut_uv": [ - 320.2, - 223.2 - ], - "shut_in_top_view": true, - "close_onset_frame": 2, - "close_done_frame": 29, - "path_len_cm": 5.5, - "path_uv_every_3_frames": [ - [ - 308.5, - 213.1 - ], - [ - 310.2, - 214.4 - ], - [ - 312.8, - 217.4 - ], - [ - 314.1, - 218.6 - ], - [ - 314.7, - 218.0 - ], - [ - 316.0, - 219.0 - ], - [ - 317.3, - 220.0 - ], - [ - 318.4, - 221.0 - ], - [ - 319.8, - 222.4 - ], - [ - 320.1, - 222.9 - ], - [ - 320.2, - 223.2 - ], - [ - 320.2, - 223.2 - ], - [ - 320.2, - 223.2 - ], - [ - 320.2, - 223.2 - ], - [ - 320.2, - 223.2 - ], - [ - 320.2, - 223.2 - ], - [ - 320.2, - 223.2 - ], - [ - 320.2, - 223.2 - ], - [ - 320.2, - 223.2 - ], - 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0.45745, - 0.38494 - ], - [ - -0.73756, - 1.56056, - 0.51545, - 0.21137, - 0.10259, - -0.67422, - 0.0636, - 0.95771, - 1.68168, - 0.96129, - -0.28088, - 0.02157, - 0.45745, - 0.38494 - ], - [ - -0.73756, - 1.56056, - 0.51545, - 0.21137, - 0.10259, - -0.67422, - 0.0636, - 0.95771, - 1.68168, - 0.96129, - -0.28088, - 0.02157, - 0.45745, - 0.38494 - ] - ], - "state_t": [ - -0.11044, - 1.29416, - 0.8566, - 0.07725, - -0.1482, - -0.26455, - 0.99862, - 0.15011, - 1.19879, - 0.66625, - 0.29698, - 0.38281, - 0.16842, - 0.99651 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -17.1 cm forward, -23.0 cm to the robot's left and -21.7 cm up from where it is now (path length 56.5 cm); in the top camera that is +100 px right and +104 px down. Gripper command: now 1.00 open; starts closing at +0.13 s and is shut (0.06) at +2.77 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.6745, - 0.2885, - 0.9831 - ], - "grasp_site_now_uv": [ - 203.0, - 184.2 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5039, - 0.058, - 0.7662 - ], - "grasp_site_at_shut_uv": [ - 303.0, - 288.4 - ], - "shut_in_top_view": true, - "close_onset_frame": 4, - "close_done_frame": 83, - "path_len_cm": 56.5, - "path_uv_every_3_frames": [ - [ - 215.7, - 197.5 - ], - [ - 228.3, - 199.7 - ], - [ - 243.9, - 208.0 - ], - [ - 263.6, - 219.1 - ], - [ - 284.3, - 230.8 - ], - [ - 300.8, - 240.6 - ], - [ - 310.0, - 248.0 - ], - [ - 315.8, - 254.3 - ], - [ - 318.4, - 258.7 - ], - [ - 319.8, - 263.2 - ], - [ - 320.0, - 267.1 - ], - [ - 318.7, - 271.2 - ], - [ - 315.3, - 275.6 - ], - [ - 312.3, - 278.7 - ], - [ - 310.1, - 281.8 - ], - [ - 309.1, - 284.2 - ], - [ - 308.8, - 286.0 - ], - [ - 309.1, - 285.6 - ], - [ - 310.7, - 282.9 - ], - 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], - [ - 0.04018, - 1.17119, - 1.00236, - -0.64292, - 0.28752, - 0.30959, - 0.0, - 0.80418, - 1.96655, - 1.44005, - 0.50889, - 0.09983, - 0.30862, - 0.0 - ], - [ - 0.04018, - 1.17119, - 1.00236, - -0.64292, - 0.28752, - 0.30959, - 0.0, - 0.80418, - 1.96655, - 1.44005, - 0.50889, - 0.09983, - 0.30862, - 0.0 - ], - [ - 0.04018, - 1.17119, - 1.00236, - -0.64292, - 0.28752, - 0.30959, - 0.0, - 0.80418, - 1.96655, - 1.44005, - 0.50889, - 0.09983, - 0.30862, - 0.0 - ] - ], - "state_t": [ - 0.55982, - 1.24952, - 1.08701, - -0.57431, - 0.75933, - 0.43812, - 0.92293, - 0.79099, - 1.86027, - 1.22854, - 0.74636, - -0.2985, - 0.46407, - 0.03028 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -1.2 cm forward, -11.3 cm to the robot's left and -4.8 cm up from where it is now (path length 42.9 cm); in the top camera that is +55 px right and +16 px down. Gripper command: now 0.96 open; starts closing at +1.00 s and is shut (0.00) at +1.53 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5979, - 0.3883, - 1.0015 - ], - "grasp_site_now_uv": [ - 147.4, - 201.5 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5862, - 0.2752, - 0.9532 - ], - "grasp_site_at_shut_uv": [ - 202.6, - 217.7 - ], - "shut_in_top_view": true, - "close_onset_frame": 30, - "close_done_frame": 46, - "path_len_cm": 42.9, - "path_uv_every_3_frames": [ - [ - 151.4, - 181.1 - ], - [ - 170.6, - 192.5 - ], - [ - 194.0, - 206.7 - ], - [ - 211.9, - 204.6 - ], - [ - 226.6, - 194.7 - ], - [ - 234.9, - 189.6 - ], - [ - 232.2, - 183.1 - ], - [ - 230.1, - 178.0 - ], - [ - 225.6, - 174.0 - ], - [ - 222.8, - 176.2 - ], - [ - 228.5, - 188.1 - ], - [ - 230.9, - 198.5 - ], - [ - 228.2, - 201.9 - ], - [ - 226.4, - 204.8 - ], - [ - 219.9, - 210.1 - ], - [ - 207.1, - 215.5 - ], - [ - 202.6, - 217.7 - ], - [ - 202.6, - 217.7 - ], - [ - 202.6, - 217.7 - 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By the time the jaws shut, the gripper site has moved -2.4 cm forward, +4.7 cm to the robot's left and +6.9 cm up from where it is now (path length 11.1 cm); in the top camera that is -19 px right and -7 px down. Gripper command: now 0.55 open; starts closing at +0.93 s and is shut (0.20) at +1.37 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5832, - -0.0397, - 0.8841 - ], - "grasp_site_now_uv": [ - 341.5, - 239.0 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5596, - 0.0074, - 0.9532 - ], - "grasp_site_at_shut_uv": [ - 322.0, - 232.1 - ], - "shut_in_top_view": true, - "close_onset_frame": 28, - "close_done_frame": 41, - "path_len_cm": 11.1, - "path_uv_every_3_frames": [ - [ - 337.4, - 232.7 - ], - [ - 336.7, - 233.1 - ], - [ - 337.4, - 232.1 - ], - [ - 340.4, - 230.6 - ], - [ - 340.0, - 228.6 - ], - [ - 337.0, - 229.7 - ], - [ - 334.7, - 232.5 - ], - [ - 333.1, - 234.1 - ], - [ - 331.4, - 235.3 - ], - [ - 329.8, - 235.9 - ], - [ - 327.0, - 236.5 - ], - [ - 324.4, - 235.8 - ], - [ - 323.4, - 234.5 - ], - [ - 322.7, - 233.0 - ], - [ - 322.0, - 232.1 - ], - [ - 322.0, - 232.1 - ], - [ - 322.0, - 232.1 - ], - [ - 322.0, - 232.1 - ], - [ - 322.0, - 232.1 - 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By the time the jaws shut, the gripper site has moved +2.2 cm forward, -0.8 cm to the robot's left and +7.7 cm up from where it is now (path length 14.5 cm); in the top camera that is -4 px right and -27 px down. Gripper command: now 0.58 open; starts closing at +0.17 s and is shut (0.00) at +0.77 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4308, - 0.2389, - 0.8875 - ], - "grasp_site_now_uv": [ - 205.4, - 293.4 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4532, - 0.2312, - 0.9647 - ], - "grasp_site_at_shut_uv": [ - 201.4, - 266.6 - ], - "shut_in_top_view": true, - "close_onset_frame": 5, - "close_done_frame": 23, - "path_len_cm": 14.5, - "path_uv_every_3_frames": [ - [ - 210.0, - 291.9 - ], - [ - 211.1, - 291.1 - ], - [ - 211.7, - 291.5 - ], - [ - 212.3, - 292.9 - ], - [ - 213.1, - 293.9 - ], - [ - 212.9, - 292.7 - ], - [ - 210.9, - 288.5 - ], - [ - 207.7, - 279.1 - ], - [ - 201.4, - 266.6 - ], - [ - 201.4, - 266.6 - ], - [ - 201.4, - 266.6 - ], - [ - 201.4, - 266.6 - ], - [ - 201.4, - 266.6 - ], - [ - 201.4, - 266.6 - ], - [ - 201.4, - 266.6 - ], - [ - 201.4, - 266.6 - ], - [ - 201.4, - 266.6 - ], - [ - 201.4, - 266.6 - ], - [ - 201.4, - 266.6 - 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"plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -1.6 cm forward, -6.1 cm to the robot's left and -2.0 cm up from where it is now (path length 14.2 cm); in the top camera that is +28 px right and +11 px down. Gripper command: now 1.00 open; starts closing at +0.17 s and is shut (0.27) at +1.17 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5115, - 0.0208, - 0.8536 - ], - "grasp_site_now_uv": [ - 300.5, - 268.0 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4956, - -0.0398, - 0.8332 - ], - "grasp_site_at_shut_uv": [ - 328.2, - 278.5 - ], - "shut_in_top_view": true, - "close_onset_frame": 5, - "close_done_frame": 35, - "path_len_cm": 14.2, - "path_uv_every_3_frames": [ - [ - 298.7, - 272.5 - ], - [ - 303.8, - 270.0 - ], - [ - 314.1, - 268.9 - ], - [ - 317.8, - 269.7 - ], - [ - 313.6, - 272.8 - ], - [ - 313.3, - 276.2 - ], - [ - 316.9, - 280.1 - ], - [ - 319.3, - 281.6 - ], - [ - 324.8, - 282.9 - ], - [ - 328.2, - 283.7 - ], - [ - 329.9, - 284.1 - ], - [ - 330.3, - 282.9 - ], - [ - 328.2, - 278.5 - ], - [ - 328.2, - 278.5 - ], - [ - 328.2, - 278.5 - ], - [ - 328.2, - 278.5 - ], - [ - 328.2, - 278.5 - ], - [ - 328.2, - 278.5 - ], - [ - 328.2, - 278.5 - 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By the time the jaws shut, the gripper site has moved -21.4 cm forward, -0.3 cm to the robot's left and -2.4 cm up from where it is now (path length 43.1 cm); in the top camera that is +2 px right and +81 px down. Gripper command: now 0.58 open; starts closing at +0.23 s and is shut (0.00) at +1.73 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.7386, - -0.036, - 0.8367 - ], - "grasp_site_now_uv": [ - 440.0, - 187.9 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5242, - -0.0385, - 0.8132 - ], - "grasp_site_at_shut_uv": [ - 442.4, - 269.3 - ], - "shut_in_top_view": true, - "close_onset_frame": 7, - "close_done_frame": 52, - "path_len_cm": 43.1, - "path_uv_every_3_frames": [ - [ - 439.0, - 176.2 - ], - [ - 443.0, - 198.1 - ], - [ - 449.1, - 220.0 - ], - [ - 452.0, - 233.8 - ], - [ - 452.3, - 241.3 - ], - [ - 452.4, - 243.3 - ], - [ - 450.2, - 248.0 - ], - [ - 450.1, - 253.1 - ], - [ - 448.2, - 256.8 - ], - [ - 443.3, - 259.9 - ], - [ - 438.8, - 260.3 - ], - [ - 434.5, - 257.3 - ], - [ - 430.1, - 253.2 - ], - [ - 429.6, - 251.5 - ], - [ - 431.6, - 250.8 - ], - [ - 432.1, - 250.0 - ], - [ - 433.3, - 254.6 - ], - [ - 439.8, - 265.1 - ], - [ - 442.4, - 269.3 - 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By the time the jaws shut, the gripper site has moved -30.0 cm forward, -18.5 cm to the robot's left and -3.7 cm up from where it is now (path length 68.5 cm); in the top camera that is +88 px right and +118 px down. Gripper command: now 0.93 open; starts closing at +0.27 s and is shut (0.01) at +3.27 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.7698, - -0.081, - 0.871 - ], - "grasp_site_now_uv": [ - 352.9, - 166.9 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4696, - -0.2659, - 0.8337 - ], - "grasp_site_at_shut_uv": [ - 441.3, - 285.3 - ], - "shut_in_top_view": true, - "close_onset_frame": 8, - "close_done_frame": 98, - "path_len_cm": 68.5, - "path_uv_every_3_frames": [ - [ - 351.6, - 148.2 - ], - [ - 355.4, - 149.7 - ], - [ - 360.4, - 154.0 - ], - [ - 369.8, - 162.2 - ], - [ - 381.9, - 171.8 - ], - [ - 402.2, - 183.5 - ], - [ - 426.5, - 199.2 - ], - [ - 448.2, - 215.4 - ], - [ - 465.2, - 232.0 - ], - [ - 477.8, - 247.2 - ], - [ - 484.3, - 259.0 - ], - [ - 484.6, - 264.2 - ], - [ - 487.3, - 268.3 - ], - [ - 488.9, - 272.5 - ], - [ - 490.4, - 277.9 - ], - [ - 488.8, - 279.7 - ], - [ - 488.0, - 278.1 - ], - [ - 485.1, - 276.2 - ], - [ - 481.9, - 277.0 - 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By the time the jaws shut, the gripper site has moved +1.6 cm forward, -4.9 cm to the robot's left and -17.1 cm up from where it is now (path length 55.2 cm); in the top camera that is +28 px right and +34 px down. Gripper command: now 0.76 open; starts closing at +1.57 s and is shut (0.17) at +3.13 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.7895, - 0.2308, - 0.9184 - ], - "grasp_site_now_uv": [ - 234.9, - 161.5 - ], - "grasp_site_at_shut_xyz_m": [ - 0.806, - 0.1815, - 0.7477 - ], - "grasp_site_at_shut_uv": [ - 262.5, - 195.5 - ], - "shut_in_top_view": true, - "close_onset_frame": 47, - "close_done_frame": 94, - "path_len_cm": 55.2, - "path_uv_every_3_frames": [ - [ - 236.5, - 187.7 - ], - [ - 237.0, - 198.3 - ], - [ - 238.6, - 204.2 - ], - [ - 239.5, - 207.6 - ], - [ - 240.7, - 210.6 - ], - [ - 241.6, - 213.4 - ], - [ - 243.1, - 215.6 - ], - [ - 243.5, - 217.0 - ], - [ - 243.7, - 217.6 - ], - [ - 243.6, - 217.3 - ], - [ - 243.1, - 217.1 - ], - [ - 241.3, - 216.1 - ], - [ - 238.6, - 214.6 - ], - [ - 234.9, - 212.5 - ], - [ - 230.0, - 210.2 - ], - [ - 225.7, - 206.9 - ], - [ - 224.4, - 202.0 - ], - [ - 225.8, - 196.7 - ], - [ - 228.0, - 190.0 - 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By the time the jaws shut, the gripper site has moved +13.1 cm forward, +10.7 cm to the robot's left and -3.5 cm up from where it is now (path length 37.7 cm); in the top camera that is -40 px right and -37 px down. Gripper command: now 0.68 open; starts closing at +0.97 s and is shut (0.00) at +2.90 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.6164, - 0.076, - 0.8913 - ], - "grasp_site_now_uv": [ - 288.5, - 220.0 - ], - "grasp_site_at_shut_xyz_m": [ - 0.7472, - 0.1826, - 0.8568 - ], - "grasp_site_at_shut_uv": [ - 248.1, - 183.1 - ], - "shut_in_top_view": true, - "close_onset_frame": 29, - "close_done_frame": 87, - "path_len_cm": 37.7, - "path_uv_every_3_frames": [ - [ - 290.3, - 213.1 - ], - [ - 289.7, - 212.2 - ], - [ - 289.4, - 211.7 - ], - [ - 289.3, - 211.6 - ], - [ - 288.9, - 211.3 - ], - [ - 285.8, - 206.3 - ], - [ - 278.7, - 198.6 - ], - [ - 264.1, - 188.9 - ], - [ - 251.0, - 175.6 - ], - [ - 239.0, - 163.4 - ], - [ - 230.6, - 155.4 - ], - [ - 229.0, - 152.0 - ], - [ - 230.8, - 152.1 - ], - [ - 234.6, - 154.6 - ], - [ - 237.6, - 157.1 - ], - [ - 239.4, - 158.9 - ], - [ - 241.5, - 161.0 - ], - [ - 243.1, - 164.4 - ], - [ - 244.9, - 168.9 - 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By the time the jaws shut, the gripper site has moved +10.0 cm forward, +5.8 cm to the robot's left and -1.0 cm up from where it is now (path length 14.3 cm); in the top camera that is -27 px right and -33 px down. Gripper command: now 0.75 open; starts closing at +1.07 s and is shut (0.00) at +2.67 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.6374, - -0.0879, - 0.9268 - ], - "grasp_site_now_uv": [ - 466.0, - 202.4 - ], - "grasp_site_at_shut_xyz_m": [ - 0.7372, - -0.0295, - 0.9169 - ], - "grasp_site_at_shut_uv": [ - 438.6, - 169.7 - ], - "shut_in_top_view": true, - "close_onset_frame": 32, - "close_done_frame": 80, - "path_len_cm": 14.3, - "path_uv_every_3_frames": [ - [ - 462.9, - 190.1 - ], - [ - 460.5, - 186.9 - ], - [ - 458.1, - 184.0 - ], - [ - 458.1, - 181.0 - ], - [ - 459.1, - 179.7 - ], - [ - 457.2, - 179.6 - ], - [ - 455.6, - 178.1 - ], - [ - 453.6, - 176.8 - ], - [ - 452.3, - 174.7 - ], - [ - 451.7, - 172.7 - ], - [ - 450.3, - 170.3 - ], - [ - 449.4, - 169.5 - ], - [ - 447.4, - 169.2 - ], - [ - 445.5, - 169.5 - ], - [ - 445.0, - 169.6 - ], - [ - 444.3, - 171.0 - ], - [ - 443.3, - 170.5 - ], - [ - 441.8, - 169.7 - ], - [ - 440.5, - 169.3 - 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0.9226, - -0.65595, - 0.20314, - -0.21305, - 0.9881, - 0.20581, - 2.10098, - 1.51617, - -0.24357, - 0.09251, - 0.97868, - 0.01216 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +0.2 cm forward, -24.7 cm to the robot's left and -12.2 cm up from where it is now (path length 33.2 cm); in the top camera that is +139 px right and +30 px down. Gripper command: now 0.99 open; starts closing at +1.57 s and is shut (0.00) at +2.13 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4452, - 0.1589, - 1.0692 - ], - "grasp_site_now_uv": [ - 230.5, - 244.8 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4473, - -0.0882, - 0.9476 - ], - "grasp_site_at_shut_uv": [ - 369.8, - 274.7 - ], - "shut_in_top_view": true, - "close_onset_frame": 47, - "close_done_frame": 64, - "path_len_cm": 33.2, - "path_uv_every_3_frames": [ - [ - 234.3, - 239.5 - ], - [ - 237.9, - 238.2 - ], - [ - 246.0, - 238.1 - ], - [ - 251.4, - 238.3 - ], - [ - 254.6, - 236.5 - ], - [ - 263.0, - 237.7 - ], - [ - 281.5, - 241.9 - ], - [ - 296.0, - 242.2 - ], - [ - 303.6, - 240.7 - ], - [ - 316.4, - 247.1 - ], - [ - 326.2, - 255.1 - ], - [ - 332.7, - 258.1 - ], - [ - 339.4, - 262.3 - ], - [ - 343.5, - 260.7 - ], - [ - 351.1, - 262.9 - ], - [ - 359.8, - 266.6 - ], - [ - 364.5, - 267.6 - ], - [ - 367.9, - 267.4 - ], - [ - 371.4, - 268.6 - 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], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +2.9 cm forward, -0.4 cm to the robot's left and +1.1 cm up from where it is now (path length 7.5 cm); in the top camera that is +2 px right and -13 px down. Gripper command: now 0.90 open; starts closing at +0.00 s and is shut (0.00) at +1.47 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5796, - 0.1874, - 0.8078 - ], - "grasp_site_now_uv": [ - 245.4, - 249.7 - ], - "grasp_site_at_shut_xyz_m": [ - 0.6083, - 0.1839, - 0.8189 - ], - "grasp_site_at_shut_uv": [ - 247.2, - 236.9 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 44, - "path_len_cm": 7.5, - "path_uv_every_3_frames": [ - [ - 249.0, - 246.4 - ], - [ - 249.1, - 247.3 - ], - [ - 249.4, - 248.2 - ], - [ - 248.9, - 249.1 - ], - [ - 249.6, - 249.7 - ], - [ - 250.1, - 250.4 - ], - [ - 250.0, - 250.8 - ], - [ - 250.5, - 250.1 - ], - [ - 251.5, - 249.5 - ], - [ - 252.2, - 249.7 - ], - [ - 254.1, - 248.5 - ], - [ - 254.5, - 246.3 - ], - [ - 253.2, - 242.8 - ], - [ - 248.5, - 239.0 - ], - [ - 247.2, - 237.3 - ], - [ - 247.2, - 236.9 - ], - [ - 247.2, - 236.9 - ], - [ - 247.2, - 236.9 - ], - [ - 247.2, - 236.9 - ], - 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By the time the jaws shut, the gripper site has moved +2.9 cm forward, -0.3 cm to the robot's left and +1.4 cm up from where it is now (path length 5.7 cm); in the top camera that is +1 px right and -13 px down. Gripper command: now 0.80 open; starts closing at +0.00 s and is shut (0.01) at +0.47 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.716, - -0.1755, - 0.8796 - ], - "grasp_site_now_uv": [ - 393.8, - 182.4 - ], - "grasp_site_at_shut_xyz_m": [ - 0.745, - -0.1787, - 0.894 - ], - "grasp_site_at_shut_uv": [ - 394.9, - 168.9 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 14, - "path_len_cm": 5.7, - "path_uv_every_3_frames": [ - [ - 394.0, - 172.9 - ], - [ - 389.5, - 173.9 - ], - [ - 389.7, - 170.9 - ], - [ - 391.7, - 169.5 - ], - [ - 394.4, - 169.2 - ], - [ - 394.9, - 168.9 - ], - [ - 394.9, - 168.9 - ], - [ - 394.9, - 168.9 - ], - [ - 394.9, - 168.9 - ], - [ - 394.9, - 168.9 - ], - [ - 394.9, - 168.9 - ], - [ - 394.9, - 168.9 - ], - [ - 394.9, - 168.9 - ], - [ - 394.9, - 168.9 - ], - [ - 394.9, - 168.9 - ], - [ - 394.9, - 168.9 - ], - [ - 394.9, - 168.9 - ], - [ - 394.9, - 168.9 - ], - [ - 394.9, - 168.9 - ], - 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-0.0132, - 0.0, - 0.90558, - 1.61089, - 1.47086, - 0.73327, - -0.25628, - 0.18754, - 0.03086 - ] - ], - "state_t": [ - -0.77497, - 1.54364, - 0.67159, - 0.40265, - -0.04025, - -0.18368, - 0.82486, - 0.90848, - 1.64359, - 1.49596, - 0.72423, - -0.22946, - 0.15164, - 0.29668 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -5.1 cm forward, +25.3 cm to the robot's left and +16.7 cm up from where it is now (path length 33.7 cm); in the top camera that is -125 px right and -19 px down. Gripper command: now 0.83 open; starts closing at +1.33 s and is shut (0.00) at +1.63 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5673, - 0.0113, - 0.8686 - ], - "grasp_site_now_uv": [ - 318.0, - 240.0 - ], - "grasp_site_at_shut_xyz_m": [ - 0.516, - 0.2646, - 1.0353 - ], - "grasp_site_at_shut_uv": [ - 192.6, - 220.9 - ], - "shut_in_top_view": true, - "close_onset_frame": 40, - "close_done_frame": 49, - "path_len_cm": 33.7, - "path_uv_every_3_frames": [ - [ - 297.3, - 250.9 - ], - [ - 282.1, - 255.9 - ], - [ - 266.9, - 256.5 - ], - [ - 251.2, - 252.6 - ], - [ - 232.7, - 245.7 - ], - [ - 220.5, - 239.7 - ], - [ - 213.7, - 234.9 - ], - [ - 210.5, - 231.8 - ], - [ - 207.2, - 230.7 - ], - [ - 200.3, - 231.3 - ], - [ - 195.2, - 233.3 - ], - [ - 191.7, - 234.5 - ], - [ - 189.0, - 233.8 - ], - [ - 188.3, - 231.0 - ], - [ - 187.5, - 226.7 - ], - [ - 188.7, - 223.3 - ], - [ - 191.2, - 221.6 - ], - [ - 192.6, - 220.9 - ], - [ - 192.6, - 220.9 - 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By the time the jaws shut, the gripper site has moved -6.2 cm forward, +9.2 cm to the robot's left and -1.1 cm up from where it is now (path length 24.9 cm); in the top camera that is -41 px right and +27 px down. Gripper command: now 0.67 open; starts closing at +0.97 s and is shut (0.00) at +2.23 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5521, - -0.0821, - 0.832 - ], - "grasp_site_now_uv": [ - 461.9, - 257.2 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4905, - 0.01, - 0.8211 - ], - "grasp_site_at_shut_uv": [ - 421.4, - 283.8 - ], - "shut_in_top_view": true, - "close_onset_frame": 29, - "close_done_frame": 67, - "path_len_cm": 24.9, - "path_uv_every_3_frames": [ - [ - 452.6, - 248.1 - ], - [ - 435.0, - 250.6 - ], - [ - 430.4, - 253.9 - ], - [ - 428.1, - 259.6 - ], - [ - 418.4, - 276.1 - ], - [ - 416.1, - 279.6 - ], - [ - 416.1, - 279.2 - ], - [ - 415.7, - 278.8 - ], - [ - 412.9, - 279.2 - ], - [ - 410.8, - 280.6 - ], - [ - 410.5, - 285.5 - ], - [ - 411.5, - 289.5 - ], - [ - 412.2, - 291.3 - ], - [ - 413.4, - 292.8 - ], - [ - 413.9, - 293.6 - ], - [ - 415.3, - 290.7 - ], - [ - 416.2, - 288.2 - ], - [ - 415.7, - 287.7 - ], - [ - 416.2, - 287.3 - ], - 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0.29911, - 0.92518, - 0.4863, - -1.18287, - 0.02483, - 0.57524, - 0.90508, - 0.10891, - 0.80842, - -0.14113, - 1.01704, - 0.46094 - ], - [ - -0.17639, - 1.34536, - 0.29911, - 0.92518, - 0.4863, - -1.18287, - 0.02483, - 0.57524, - 0.90508, - 0.10891, - 0.80842, - -0.14113, - 1.01704, - 0.46094 - ] - ], - "state_t": [ - -0.18673, - 1.26555, - 0.33932, - 0.62772, - 0.43011, - -1.08816, - 0.53542, - 0.56477, - 0.88293, - 0.10586, - 0.75284, - -0.15431, - 1.02865, - 0.46977 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +0.4 cm forward, -0.6 cm to the robot's left and +2.3 cm up from where it is now (path length 2.3 cm); in the top camera that is +1 px right and -7 px down. Gripper command: now 0.53 open; starts closing at +0.23 s and is shut (0.02) at +0.73 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5874, - 0.1746, - 0.8888 - ], - "grasp_site_now_uv": [ - 242.5, - 236.4 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5913, - 0.1689, - 0.9122 - ], - "grasp_site_at_shut_uv": [ - 243.6, - 229.2 - ], - "shut_in_top_view": true, - "close_onset_frame": 7, - "close_done_frame": 22, - "path_len_cm": 2.3, - "path_uv_every_3_frames": [ - [ - 242.8, - 231.6 - ], - [ - 242.6, - 231.2 - ], - [ - 242.3, - 229.6 - ], - [ - 242.7, - 229.5 - ], - [ - 243.4, - 228.4 - ], - [ - 243.5, - 227.9 - ], - [ - 243.6, - 228.2 - ], - [ - 243.5, - 228.7 - ], - [ - 243.6, - 229.2 - ], - [ - 243.6, - 229.2 - ], - [ - 243.6, - 229.2 - ], - [ - 243.6, - 229.2 - ], - [ - 243.6, - 229.2 - ], - [ - 243.6, - 229.2 - ], - [ - 243.6, - 229.2 - ], - [ - 243.6, - 229.2 - ], - [ - 243.6, - 229.2 - ], - [ - 243.6, - 229.2 - ], - [ - 243.6, - 229.2 - ], - 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0.81811 - ], - [ - -0.38966, - 2.33682, - 2.35018, - -0.60295, - 0.16375, - -0.39558, - 0.0, - 0.53692, - 1.35605, - 1.81774, - -0.55846, - 0.08758, - -0.00153, - 0.81811 - ], - [ - -0.38966, - 2.33682, - 2.35018, - -0.60295, - 0.16375, - -0.39558, - 0.0, - 0.53692, - 1.35605, - 1.81774, - -0.55846, - 0.08758, - -0.00153, - 0.81811 - ] - ], - "state_t": [ - -0.37976, - 2.32414, - 2.09144, - -0.66281, - 0.08869, - -0.33703, - 0.55083, - 0.54074, - 1.21786, - 1.2911, - -0.63802, - 0.16308, - -0.01545, - 0.63412 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +3.3 cm forward, -3.4 cm to the robot's left and +11.5 cm up from where it is now (path length 25.9 cm); in the top camera that is +12 px right and -44 px down. Gripper command: now 0.56 open; starts closing at +0.23 s and is shut (0.00) at +1.17 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.8088, - 0.0718, - 0.8685 - ], - "grasp_site_now_uv": [ - 287.0, - 158.6 - ], - "grasp_site_at_shut_xyz_m": [ - 0.8415, - 0.0382, - 0.9831 - ], - "grasp_site_at_shut_uv": [ - 299.2, - 115.1 - ], - "shut_in_top_view": true, - "close_onset_frame": 7, - "close_done_frame": 35, - "path_len_cm": 25.9, - "path_uv_every_3_frames": [ - [ - 286.8, - 151.1 - ], - [ - 287.5, - 150.4 - ], - [ - 289.3, - 153.5 - ], - [ - 292.1, - 155.9 - ], - [ - 292.5, - 156.4 - ], - [ - 293.6, - 159.2 - ], - [ - 293.6, - 162.8 - ], - [ - 291.7, - 165.2 - ], - [ - 291.9, - 164.4 - ], - [ - 293.3, - 153.0 - ], - [ - 296.3, - 137.1 - ], - [ - 299.2, - 124.1 - ], - [ - 299.2, - 115.1 - ], - [ - 299.2, - 115.1 - ], - [ - 299.2, - 115.1 - ], - [ - 299.2, - 115.1 - ], - [ - 299.2, - 115.1 - ], - [ - 299.2, - 115.1 - ], - [ - 299.2, - 115.1 - 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-0.32139, - -0.44537, - 0.46979, - 0.90497 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +2.8 cm forward, +1.6 cm to the robot's left and -2.2 cm up from where it is now (path length 7.8 cm); in the top camera that is -7 px right and -8 px down. Gripper command: now 0.90 open; starts closing at +0.10 s and is shut (0.00) at +1.17 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4608, - -0.0492, - 0.8009 - ], - "grasp_site_now_uv": [ - 332.2, - 298.9 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4887, - -0.0337, - 0.7791 - ], - "grasp_site_at_shut_uv": [ - 324.7, - 291.3 - ], - "shut_in_top_view": true, - "close_onset_frame": 3, - "close_done_frame": 35, - "path_len_cm": 7.8, - "path_uv_every_3_frames": [ - [ - 324.7, - 298.7 - ], - [ - 324.6, - 298.3 - ], - [ - 325.1, - 297.2 - ], - [ - 325.9, - 292.3 - ], - [ - 326.8, - 294.1 - ], - [ - 327.0, - 296.2 - ], - [ - 325.5, - 296.7 - ], - [ - 324.6, - 296.2 - ], - [ - 324.2, - 293.3 - ], - [ - 325.0, - 293.7 - ], - [ - 324.0, - 293.6 - ], - [ - 324.0, - 292.4 - ], - [ - 324.7, - 291.3 - ], - [ - 324.7, - 291.3 - ], - [ - 324.7, - 291.3 - ], - [ - 324.7, - 291.3 - ], - [ - 324.7, - 291.3 - ], - [ - 324.7, - 291.3 - ], - [ - 324.7, - 291.3 - 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-1.04935, - 0.21172, - 0.00952 - ] - ], - "state_t": [ - -1.20794, - 1.10342, - 1.16484, - -0.34199, - 0.20161, - 0.41714, - 0.22896, - -0.04635, - 1.00538, - 1.25601, - -0.40265, - -1.29683, - 0.82876, - 0.63921 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -4.8 cm forward, +6.9 cm to the robot's left and -0.8 cm up from where it is now (path length 11.2 cm); in the top camera that is -45 px right and +30 px down. Gripper command: now 0.66 open; starts closing at +0.27 s and is shut (0.01) at +1.63 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4795, - -0.1567, - 1.1876 - ], - "grasp_site_now_uv": [ - 420.8, - 186.2 - ], - "grasp_site_at_shut_xyz_m": [ - 0.431, - -0.0876, - 1.1791 - ], - "grasp_site_at_shut_uv": [ - 376.1, - 216.5 - ], - "shut_in_top_view": true, - "close_onset_frame": 8, - "close_done_frame": 49, - "path_len_cm": 11.2, - "path_uv_every_3_frames": [ - [ - 419.4, - 188.6 - ], - [ - 412.9, - 203.4 - ], - [ - 408.6, - 214.9 - ], - [ - 405.1, - 219.9 - ], - [ - 400.2, - 222.3 - ], - [ - 394.8, - 223.4 - ], - [ - 390.6, - 224.5 - ], - [ - 387.6, - 223.7 - ], - [ - 385.3, - 224.2 - ], - [ - 383.6, - 222.0 - ], - [ - 382.0, - 220.0 - ], - [ - 380.6, - 218.1 - ], - [ - 378.7, - 217.2 - ], - [ - 377.5, - 218.0 - ], - [ - 376.2, - 217.2 - ], - [ - 375.5, - 217.9 - ], - [ - 375.9, - 216.7 - ], - [ - 376.1, - 216.5 - ], - [ - 376.1, - 216.5 - 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By the time the jaws shut, the gripper site has moved +15.5 cm forward, -2.9 cm to the robot's left and -11.8 cm up from where it is now (path length 27.1 cm); in the top camera that is +29 px right and -18 px down. Gripper command: now 1.00 open; starts closing at +0.07 s and is shut (0.66) at +1.87 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5873, - 0.1324, - 1.1531 - ], - "grasp_site_now_uv": [ - 248.2, - 149.5 - ], - "grasp_site_at_shut_xyz_m": [ - 0.7427, - 0.1034, - 1.0355 - ], - "grasp_site_at_shut_uv": [ - 277.6, - 132.0 - ], - "shut_in_top_view": true, - "close_onset_frame": 2, - "close_done_frame": 56, - "path_len_cm": 27.1, - "path_uv_every_3_frames": [ - [ - 243.6, - 145.2 - ], - [ - 240.8, - 146.3 - ], - [ - 236.6, - 150.4 - ], - [ - 234.0, - 150.5 - ], - [ - 234.0, - 151.4 - ], - [ - 233.7, - 150.2 - ], - [ - 233.1, - 145.7 - ], - [ - 237.6, - 142.1 - ], - [ - 244.7, - 141.7 - ], - [ - 256.4, - 141.6 - ], - [ - 265.5, - 142.8 - ], - [ - 271.6, - 145.1 - ], - [ - 273.7, - 145.0 - ], - [ - 275.2, - 142.9 - ], - [ - 277.6, - 141.1 - ], - [ - 278.6, - 140.4 - ], - [ - 280.2, - 139.1 - ], - [ - 280.4, - 136.3 - ], - [ - 279.3, - 134.2 - 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0.50465, - 0.53537, - 0.0 - ] - ], - "state_t": [ - -1.25181, - 1.41852, - 1.12745, - -0.86767, - -0.6323, - -1.33459, - 0.99732, - 0.70592, - 0.9081, - 0.88369, - -0.75856, - 0.42172, - 0.53883, - 0.11961 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -3.4 cm forward, -7.0 cm to the robot's left and -8.1 cm up from where it is now (path length 9.7 cm); in the top camera that is +34 px right and +31 px down. Gripper command: now 0.99 open; starts closing at +0.00 s and is shut (0.45) at +0.37 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4471, - 0.041, - 0.9187 - ], - "grasp_site_now_uv": [ - 405.2, - 283.2 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4133, - -0.0286, - 0.8381 - ], - "grasp_site_at_shut_uv": [ - 439.4, - 313.9 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 11, - "path_len_cm": 9.7, - "path_uv_every_3_frames": [ - [ - 413.6, - 291.4 - ], - [ - 429.8, - 298.1 - ], - [ - 432.5, - 305.0 - ], - [ - 435.9, - 309.8 - ], - [ - 439.4, - 313.9 - ], - [ - 439.4, - 313.9 - ], - [ - 439.4, - 313.9 - ], - [ - 439.4, - 313.9 - ], - [ - 439.4, - 313.9 - ], - [ - 439.4, - 313.9 - ], - [ - 439.4, - 313.9 - ], - [ - 439.4, - 313.9 - ], - [ - 439.4, - 313.9 - ], - [ - 439.4, - 313.9 - ], - [ - 439.4, - 313.9 - ], - [ - 439.4, - 313.9 - ], - [ - 439.4, - 313.9 - ], - [ - 439.4, - 313.9 - ], - [ - 439.4, - 313.9 - ], - 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By the time the jaws shut, the gripper site has moved -3.7 cm forward, -0.7 cm to the robot's left and +0.9 cm up from where it is now (path length 7.0 cm); in the top camera that is +5 px right and +15 px down. Gripper command: now 0.73 open; starts closing at +0.13 s and is shut (0.00) at +1.90 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4751, - -0.0411, - 1.0606 - ], - "grasp_site_now_uv": [ - 342.7, - 232.6 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4381, - -0.0485, - 1.0694 - ], - "grasp_site_at_shut_uv": [ - 347.4, - 247.2 - ], - "shut_in_top_view": true, - "close_onset_frame": 4, - "close_done_frame": 57, - "path_len_cm": 7.0, - "path_uv_every_3_frames": [ - [ - 340.9, - 236.5 - ], - [ - 338.4, - 240.0 - ], - [ - 335.6, - 243.8 - ], - [ - 335.1, - 244.7 - ], - [ - 335.8, - 244.6 - ], - [ - 337.5, - 244.6 - ], - [ - 340.0, - 246.0 - ], - [ - 342.6, - 246.5 - ], - [ - 343.8, - 246.8 - ], - [ - 344.6, - 246.8 - ], - [ - 344.1, - 246.9 - ], - [ - 343.2, - 247.0 - ], - [ - 343.4, - 246.8 - ], - [ - 344.2, - 246.5 - ], - [ - 344.9, - 246.3 - ], - [ - 345.7, - 246.2 - ], - [ - 346.3, - 246.9 - ], - [ - 347.0, - 247.1 - ], - [ - 347.3, - 247.4 - 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By the time the jaws shut, the gripper site has moved -3.0 cm forward, -0.2 cm to the robot's left and -3.1 cm up from where it is now (path length 16.2 cm); in the top camera that is +2 px right and +19 px down. Gripper command: now 0.92 open; starts closing at +0.27 s and is shut (0.49) at +0.97 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5396, - 0.2044, - 0.8865 - ], - "grasp_site_now_uv": [ - 331.2, - 250.3 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5095, - 0.2019, - 0.8551 - ], - "grasp_site_at_shut_uv": [ - 333.5, - 269.3 - ], - "shut_in_top_view": true, - "close_onset_frame": 8, - "close_done_frame": 29, - "path_len_cm": 16.2, - "path_uv_every_3_frames": [ - [ - 311.7, - 239.9 - ], - [ - 307.2, - 243.3 - ], - [ - 303.2, - 248.0 - ], - [ - 304.1, - 251.7 - ], - [ - 303.7, - 254.9 - ], - [ - 303.2, - 257.9 - ], - [ - 306.2, - 261.7 - ], - [ - 309.4, - 264.8 - ], - [ - 314.6, - 266.1 - ], - [ - 324.0, - 266.7 - ], - [ - 333.5, - 269.3 - ], - [ - 333.5, - 269.3 - ], - [ - 333.5, - 269.3 - ], - [ - 333.5, - 269.3 - ], - [ - 333.5, - 269.3 - ], - [ - 333.5, - 269.3 - ], - [ - 333.5, - 269.3 - ], - [ - 333.5, - 269.3 - ], - [ - 333.5, - 269.3 - 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0.34984, - 0.30316, - 0.80534, - 1.31462, - 1.58769, - -0.92961, - -0.57374, - -0.5415, - 0.0 - ] - ], - "state_t": [ - -0.4202, - 1.06451, - 1.56691, - -0.90276, - 0.90581, - 0.53388, - 0.87652, - 0.70554, - 1.23999, - 1.51389, - -0.7826, - -0.73949, - -0.38891, - 0.00978 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -0.7 cm forward, -6.9 cm to the robot's left and -6.0 cm up from where it is now (path length 7.1 cm); in the top camera that is +50 px right and +25 px down. Gripper command: now 0.88 open; starts closing at +0.00 s and is shut (0.30) at +0.93 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4194, - 0.0889, - 1.1957 - ], - "grasp_site_now_uv": [ - 261.2, - 216.6 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4129, - 0.0201, - 1.1356 - ], - "grasp_site_at_shut_uv": [ - 311.0, - 241.8 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 28, - "path_len_cm": 7.1, - "path_uv_every_3_frames": [ - [ - 274.8, - 234.0 - ], - [ - 282.3, - 237.5 - ], - [ - 288.1, - 241.7 - ], - [ - 294.0, - 239.0 - ], - [ - 300.3, - 244.0 - ], - [ - 303.8, - 246.0 - ], - [ - 306.3, - 247.8 - ], - [ - 308.5, - 246.3 - ], - [ - 309.8, - 242.7 - ], - [ - 310.9, - 242.2 - ], - [ - 311.0, - 241.8 - ], - [ - 311.0, - 241.8 - ], - [ - 311.0, - 241.8 - ], - [ - 311.0, - 241.8 - ], - [ - 311.0, - 241.8 - ], - [ - 311.0, - 241.8 - ], - [ - 311.0, - 241.8 - ], - [ - 311.0, - 241.8 - ], - [ - 311.0, - 241.8 - ], - 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1.1286, - -0.64222, - 0.42281, - 1.01703, - 0.27545 - ], - [ - -0.65107, - 0.50269, - 0.62231, - -0.56272, - 0.51369, - 0.60672, - 0.99773, - 1.21001, - 1.68767, - 1.1286, - -0.64222, - 0.42281, - 1.01703, - 0.27545 - ], - [ - -0.65107, - 0.50269, - 0.62231, - -0.56272, - 0.51369, - 0.60672, - 0.99773, - 1.21001, - 1.68767, - 1.1286, - -0.64222, - 0.42281, - 1.01703, - 0.27545 - ] - ], - "state_t": [ - -0.26036, - 2.04337, - 1.62528, - -0.40341, - -0.23823, - -0.39502, - 0.20245, - 0.84134, - 0.81922, - 0.90887, - -0.67578, - 0.01583, - 0.71469, - 0.79427 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +0.7 cm forward, +11.6 cm to the robot's left and -17.0 cm up from where it is now (path length 31.4 cm); in the top camera that is -57 px right and +30 px down. Gripper command: now 0.80 open; starts closing at +1.33 s and is shut (0.28) at +2.00 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4422, - -0.1018, - 1.0036 - ], - "grasp_site_now_uv": [ - 368.3, - 261.9 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4494, - 0.0144, - 0.8335 - ], - "grasp_site_at_shut_uv": [ - 311.2, - 291.6 - ], - "shut_in_top_view": true, - "close_onset_frame": 40, - "close_done_frame": 60, - "path_len_cm": 31.4, - "path_uv_every_3_frames": [ - [ - 370.5, - 262.5 - ], - [ - 369.5, - 261.8 - ], - [ - 368.8, - 261.1 - ], - [ - 367.3, - 260.5 - ], - [ - 365.0, - 260.3 - ], - [ - 362.4, - 260.1 - ], - [ - 359.2, - 259.9 - ], - [ - 354.4, - 260.8 - ], - [ - 348.1, - 263.5 - ], - [ - 343.2, - 267.7 - ], - [ - 340.4, - 272.8 - ], - [ - 334.6, - 278.9 - ], - [ - 326.9, - 285.0 - ], - [ - 319.8, - 290.2 - ], - [ - 315.9, - 294.2 - ], - [ - 313.0, - 298.0 - ], - [ - 310.1, - 299.9 - ], - [ - 310.5, - 301.2 - ], - [ - 313.3, - 300.7 - 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], - [ - -0.76416, - 1.82232, - 1.72961, - -0.41955, - 0.55799, - -0.36499, - 0.44215, - 0.255, - 1.24698, - 1.08178, - -0.16852, - -0.60674, - 0.72797, - 0.38446 - ], - [ - -0.76416, - 1.82232, - 1.72961, - -0.41955, - 0.55799, - -0.36499, - 0.44215, - 0.255, - 1.24698, - 1.08178, - -0.16852, - -0.60674, - 0.72797, - 0.38446 - ], - [ - -0.76416, - 1.82232, - 1.72961, - -0.41955, - 0.55799, - -0.36499, - 0.44215, - 0.255, - 1.24698, - 1.08178, - -0.16852, - -0.60674, - 0.72797, - 0.38446 - ] - ], - "state_t": [ - -0.44156, - 1.40135, - 1.71035, - -0.94244, - 0.13485, - -0.00744, - 0.95392, - 0.30919, - 1.56424, - 0.83906, - -0.27218, - 0.1482, - 1.49176, - 0.85987 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -2.2 cm forward, -24.3 cm to the robot's left and -6.3 cm up from where it is now (path length 29.7 cm); in the top camera that is +121 px right and +28 px down. Gripper command: now 0.95 open; starts closing at +1.13 s and is shut (0.44) at +1.77 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5918, - 0.1244, - 1.1124 - ], - "grasp_site_now_uv": [ - 260.0, - 164.9 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5695, - -0.1185, - 1.0498 - ], - "grasp_site_at_shut_uv": [ - 380.9, - 193.0 - ], - "shut_in_top_view": true, - "close_onset_frame": 34, - "close_done_frame": 53, - "path_len_cm": 29.7, - "path_uv_every_3_frames": [ - [ - 261.6, - 159.1 - ], - [ - 266.0, - 160.7 - ], - [ - 271.9, - 161.6 - ], - [ - 278.8, - 160.4 - ], - [ - 289.0, - 160.2 - ], - [ - 305.0, - 162.1 - ], - [ - 325.8, - 168.4 - ], - [ - 340.6, - 175.6 - ], - [ - 352.4, - 181.4 - ], - [ - 363.0, - 187.5 - ], - [ - 367.8, - 191.6 - ], - [ - 370.7, - 193.6 - ], - [ - 374.2, - 195.2 - ], - [ - 378.7, - 195.8 - ], - [ - 381.5, - 195.7 - ], - [ - 381.6, - 195.0 - ], - [ - 381.6, - 194.1 - ], - [ - 381.1, - 193.7 - ], - [ - 380.9, - 193.0 - 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By the time the jaws shut, the gripper site has moved -2.4 cm forward, -2.6 cm to the robot's left and -4.7 cm up from where it is now (path length 28.9 cm); in the top camera that is +19 px right and +33 px down. Gripper command: now 0.68 open; starts closing at +1.60 s and is shut (0.00) at +2.13 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.2768, - -0.0516, - 1.2411 - ], - "grasp_site_now_uv": [ - 367.9, - 297.3 - ], - "grasp_site_at_shut_xyz_m": [ - 0.2531, - -0.0774, - 1.1937 - ], - "grasp_site_at_shut_uv": [ - 386.6, - 330.4 - ], - "shut_in_top_view": true, - "close_onset_frame": 48, - "close_done_frame": 64, - "path_len_cm": 28.9, - "path_uv_every_3_frames": [ - [ - 359.5, - 251.6 - ], - [ - 367.6, - 243.3 - ], - [ - 376.5, - 233.4 - ], - [ - 388.5, - 228.0 - ], - [ - 400.7, - 229.9 - ], - [ - 409.4, - 234.2 - ], - [ - 408.0, - 238.8 - ], - [ - 395.8, - 242.9 - ], - [ - 373.4, - 244.2 - ], - [ - 353.5, - 244.3 - ], - [ - 345.0, - 254.1 - ], - [ - 347.1, - 276.7 - ], - [ - 349.4, - 296.3 - ], - [ - 354.3, - 299.2 - ], - [ - 359.8, - 306.5 - ], - [ - 366.9, - 317.0 - ], - [ - 372.3, - 322.8 - ], - [ - 375.5, - 325.6 - ], - [ - 378.6, - 325.5 - 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By the time the jaws shut, the gripper site has moved +3.1 cm forward, +0.5 cm to the robot's left and -0.4 cm up from where it is now (path length 9.4 cm); in the top camera that is -2 px right and -11 px down. Gripper command: now 0.69 open; starts closing at +0.00 s and is shut (0.00) at +0.77 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5676, - 0.0007, - 0.9125 - ], - "grasp_site_now_uv": [ - 322.5, - 229.5 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5986, - 0.0056, - 0.9086 - ], - "grasp_site_at_shut_uv": [ - 320.3, - 218.3 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 23, - "path_len_cm": 9.4, - "path_uv_every_3_frames": [ - [ - 322.9, - 218.3 - ], - [ - 322.1, - 221.2 - ], - [ - 322.5, - 224.3 - ], - [ - 323.6, - 225.5 - ], - [ - 325.4, - 226.6 - ], - [ - 327.0, - 228.1 - ], - [ - 327.1, - 227.4 - ], - [ - 323.4, - 222.7 - ], - [ - 320.3, - 218.3 - ], - [ - 320.3, - 218.3 - ], - [ - 320.3, - 218.3 - ], - [ - 320.3, - 218.3 - ], - [ - 320.3, - 218.3 - ], - [ - 320.3, - 218.3 - ], - [ - 320.3, - 218.3 - ], - [ - 320.3, - 218.3 - ], - [ - 320.3, - 218.3 - ], - [ - 320.3, - 218.3 - ], - [ - 320.3, - 218.3 - ], - 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0.3176, - 0.0 - ], - [ - -0.38503, - 2.16301, - 1.86078, - -0.30986, - 0.35433, - -0.32987, - 0.02483, - 0.56449, - 1.71973, - 0.95246, - 0.2211, - -0.02169, - 0.3176, - 0.0 - ], - [ - -0.38503, - 2.16301, - 1.86078, - -0.30986, - 0.35433, - -0.32987, - 0.02483, - 0.56449, - 1.71973, - 0.95246, - 0.2211, - -0.02169, - 0.3176, - 0.0 - ] - ], - "state_t": [ - -0.7063, - 2.24174, - 1.95945, - -0.28439, - -0.10433, - 0.13104, - 0.95631, - 0.36526, - 0.9699, - 0.68647, - -0.05741, - 0.34085, - 0.57507, - 0.97968 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +6.7 cm forward, +19.3 cm to the robot's left and -12.1 cm up from where it is now (path length 43.4 cm); in the top camera that is -100 px right and +7 px down. Gripper command: now 0.98 open; starts closing at +1.87 s and is shut (0.00) at +3.77 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5936, - -0.2404, - 0.9925 - ], - "grasp_site_now_uv": [ - 441.7, - 206.7 - ], - "grasp_site_at_shut_xyz_m": [ - 0.6608, - -0.0471, - 0.8715 - ], - "grasp_site_at_shut_uv": [ - 342.1, - 213.3 - ], - "shut_in_top_view": true, - "close_onset_frame": 56, - "close_done_frame": 113, - "path_len_cm": 43.4, - "path_uv_every_3_frames": [ - [ - 443.4, - 207.7 - ], - [ - 444.7, - 209.6 - ], - [ - 445.9, - 210.8 - ], - [ - 446.9, - 211.6 - ], - [ - 448.1, - 212.4 - ], - [ - 447.8, - 212.7 - ], - [ - 447.5, - 213.3 - ], - [ - 447.6, - 214.0 - ], - [ - 447.9, - 214.7 - ], - [ - 448.3, - 214.7 - ], - [ - 449.4, - 215.1 - ], - [ - 450.1, - 216.7 - ], - [ - 449.6, - 216.3 - ], - [ - 452.0, - 215.2 - ], - [ - 457.3, - 213.9 - ], - [ - 461.0, - 213.1 - ], - [ - 462.3, - 212.8 - ], - [ - 461.5, - 212.7 - ], - [ - 460.1, - 212.6 - 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By the time the jaws shut, the gripper site has moved +3.1 cm forward, -0.2 cm to the robot's left and -1.3 cm up from where it is now (path length 3.9 cm); in the top camera that is +1 px right and -7 px down. Gripper command: now 0.76 open; starts closing at +0.00 s and is shut (0.00) at +0.33 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5006, - 0.0691, - 0.9006 - ], - "grasp_site_now_uv": [ - 302.9, - 252.1 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5321, - 0.0675, - 0.8879 - ], - "grasp_site_at_shut_uv": [ - 304.2, - 245.2 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 10, - "path_len_cm": 3.9, - "path_uv_every_3_frames": [ - [ - 308.6, - 251.9 - ], - [ - 309.9, - 251.7 - ], - [ - 308.2, - 249.7 - ], - [ - 305.1, - 246.2 - ], - [ - 304.2, - 245.2 - ], - [ - 304.2, - 245.2 - ], - [ - 304.2, - 245.2 - ], - [ - 304.2, - 245.2 - ], - [ - 304.2, - 245.2 - ], - [ - 304.2, - 245.2 - ], - [ - 304.2, - 245.2 - ], - [ - 304.2, - 245.2 - ], - [ - 304.2, - 245.2 - ], - [ - 304.2, - 245.2 - ], - [ - 304.2, - 245.2 - ], - [ - 304.2, - 245.2 - ], - [ - 304.2, - 245.2 - ], - [ - 304.2, - 245.2 - ], - [ - 304.2, - 245.2 - ], - 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"plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -0.9 cm forward, -2.5 cm to the robot's left and -3.9 cm up from where it is now (path length 5.2 cm); in the top camera that is +11 px right and +9 px down. Gripper command: now 0.99 open; starts closing at +0.27 s and is shut (0.00) at +0.80 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.3918, - -0.0039, - 0.8701 - ], - "grasp_site_now_uv": [ - 324.3, - 307.5 - ], - "grasp_site_at_shut_xyz_m": [ - 0.383, - -0.0291, - 0.8314 - ], - "grasp_site_at_shut_uv": [ - 335.2, - 316.9 - ], - "shut_in_top_view": true, - "close_onset_frame": 8, - "close_done_frame": 24, - "path_len_cm": 5.2, - "path_uv_every_3_frames": [ - [ - 330.1, - 307.7 - ], - [ - 331.5, - 310.7 - ], - [ - 332.4, - 313.4 - ], - [ - 333.0, - 316.2 - ], - [ - 334.0, - 318.7 - ], - [ - 334.6, - 319.8 - ], - [ - 334.5, - 319.9 - ], - [ - 335.0, - 319.7 - ], - [ - 335.2, - 316.9 - ], - [ - 335.2, - 316.9 - ], - [ - 335.2, - 316.9 - ], - [ - 335.2, - 316.9 - ], - [ - 335.2, - 316.9 - ], - [ - 335.2, - 316.9 - ], - [ - 335.2, - 316.9 - ], - [ - 335.2, - 316.9 - ], - [ - 335.2, - 316.9 - ], - [ - 335.2, - 316.9 - ], - [ - 335.2, - 316.9 - 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1.28653, - 0.82113, - 0.23022, - -0.0391, - -0.39387, - 0.17451, - 1.23808, - 1.1492, - 1.1347, - -0.11845, - 0.2657, - 0.34543, - 0.76568 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +1.4 cm forward, +3.3 cm to the robot's left and -3.1 cm up from where it is now (path length 6.6 cm); in the top camera that is -13 px right and +2 px down. Gripper command: now 0.78 open; starts closing at +0.03 s and is shut (0.29) at +0.83 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4233, - 0.0476, - 1.1298 - ], - "grasp_site_now_uv": [ - 301.8, - 231.9 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4372, - 0.0808, - 1.0985 - ], - "grasp_site_at_shut_uv": [ - 289.2, - 233.5 - ], - "shut_in_top_view": true, - "close_onset_frame": 1, - "close_done_frame": 25, - "path_len_cm": 6.6, - "path_uv_every_3_frames": [ - [ - 305.0, - 226.8 - ], - [ - 304.0, - 228.5 - ], - [ - 301.9, - 231.2 - ], - [ - 299.8, - 232.7 - ], - [ - 297.5, - 233.5 - ], - [ - 295.4, - 234.3 - ], - [ - 292.7, - 235.5 - ], - [ - 290.3, - 235.4 - ], - [ - 289.2, - 234.0 - ], - [ - 289.2, - 233.5 - ], - [ - 289.2, - 233.5 - ], - [ - 289.2, - 233.5 - ], - [ - 289.2, - 233.5 - ], - [ - 289.2, - 233.5 - ], - [ - 289.2, - 233.5 - ], - [ - 289.2, - 233.5 - ], - [ - 289.2, - 233.5 - ], - [ - 289.2, - 233.5 - ], - [ - 289.2, - 233.5 - ], - 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], - [ - -0.20402, - 1.73327, - 0.97862, - -0.02919, - -0.30851, - -1.37294, - 0.44338, - 0.60746, - 0.94647, - 0.74245, - 0.12273, - -0.0844, - 0.53844, - 0.95839 - ], - [ - -0.20402, - 1.73327, - 0.97862, - -0.02919, - -0.30851, - -1.37294, - 0.44338, - 0.60746, - 0.94647, - 0.74245, - 0.12273, - -0.0844, - 0.53844, - 0.95839 - ], - [ - -0.20402, - 1.73327, - 0.97862, - -0.02919, - -0.30851, - -1.37294, - 0.44338, - 0.60746, - 0.94647, - 0.74245, - 0.12273, - -0.0844, - 0.53844, - 0.95839 - ] - ], - "state_t": [ - -0.29622, - 1.26059, - 0.97028, - 0.49229, - -0.03719, - -0.23365, - 0.75461, - 0.60063, - 0.96265, - 0.74369, - 0.08526, - -0.07305, - 0.53273, - 0.96474 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +3.7 cm forward, +7.9 cm to the robot's left and -31.8 cm up from where it is now (path length 33.3 cm); in the top camera that is -3 px right and +86 px down. Gripper command: now 0.82 open; starts closing at +0.27 s and is shut (0.44) at +1.37 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.6659, - 0.1905, - 1.1517 - ], - "grasp_site_now_uv": [ - 218.1, - 115.1 - ], - "grasp_site_at_shut_xyz_m": [ - 0.703, - 0.2695, - 0.8338 - ], - "grasp_site_at_shut_uv": [ - 215.2, - 200.9 - ], - "shut_in_top_view": true, - "close_onset_frame": 8, - "close_done_frame": 41, - "path_len_cm": 33.3, - "path_uv_every_3_frames": [ - [ - 204.6, - 122.0 - ], - [ - 206.0, - 128.6 - ], - [ - 203.7, - 136.8 - ], - [ - 203.6, - 145.4 - ], - [ - 202.2, - 155.1 - ], - [ - 201.6, - 164.6 - ], - [ - 202.7, - 168.9 - ], - [ - 201.3, - 176.9 - ], - [ - 203.7, - 182.5 - ], - [ - 205.7, - 188.0 - ], - [ - 207.5, - 191.1 - ], - [ - 209.3, - 192.7 - ], - [ - 211.0, - 196.3 - ], - [ - 212.7, - 201.0 - ], - [ - 215.2, - 200.9 - ], - [ - 215.2, - 200.9 - ], - [ - 215.2, - 200.9 - ], - [ - 215.2, - 200.9 - ], - [ - 215.2, - 200.9 - ], - 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0.00513 - ], - [ - -0.56296, - 1.72421, - 0.26075, - 1.65977, - 0.5875, - -1.5892, - 0.04435, - 0.8713, - 1.23028, - 0.4418, - 0.69184, - -0.31141, - 0.64887, - 0.00513 - ] - ], - "state_t": [ - -0.81807, - 2.11967, - 1.70157, - -0.28172, - -0.48619, - -0.40455, - 0.73363, - 0.5724, - 0.762, - 0.84859, - -0.80549, - 0.13714, - 0.45987, - 0.97666 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -1.7 cm forward, +21.0 cm to the robot's left and -0.9 cm up from where it is now (path length 24.9 cm); in the top camera that is -109 px right and +10 px down. Gripper command: now 0.98 open; starts closing at +1.23 s and is shut (0.01) at +2.50 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4755, - -0.194, - 0.9676 - ], - "grasp_site_now_uv": [ - 420.7, - 254.4 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4585, - 0.0157, - 0.9586 - ], - "grasp_site_at_shut_uv": [ - 311.7, - 264.5 - ], - "shut_in_top_view": true, - "close_onset_frame": 37, - "close_done_frame": 75, - "path_len_cm": 24.9, - "path_uv_every_3_frames": [ - [ - 421.1, - 249.1 - ], - [ - 420.9, - 248.3 - ], - [ - 418.5, - 247.0 - ], - [ - 413.7, - 246.4 - ], - [ - 405.6, - 246.0 - ], - [ - 393.8, - 246.4 - ], - [ - 384.1, - 248.0 - ], - [ - 380.5, - 249.2 - ], - [ - 375.7, - 251.8 - ], - [ - 369.7, - 254.8 - ], - [ - 364.3, - 256.5 - ], - [ - 359.7, - 257.0 - ], - [ - 354.9, - 256.0 - ], - [ - 348.2, - 256.9 - ], - [ - 342.6, - 257.5 - ], - [ - 337.2, - 258.1 - ], - [ - 332.2, - 258.5 - ], - [ - 326.9, - 258.1 - ], - [ - 320.4, - 258.3 - 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By the time the jaws shut, the gripper site has moved +9.0 cm forward, +14.5 cm to the robot's left and +3.4 cm up from where it is now (path length 25.2 cm); in the top camera that is -75 px right and -48 px down. Gripper command: now 0.99 open; starts closing at +1.87 s and is shut (0.52) at +2.90 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4973, - -0.1832, - 0.97 - ], - "grasp_site_now_uv": [ - 421.4, - 249.3 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5869, - -0.0377, - 1.0038 - ], - "grasp_site_at_shut_uv": [ - 346.1, - 201.4 - ], - "shut_in_top_view": true, - "close_onset_frame": 56, - "close_done_frame": 87, - "path_len_cm": 25.2, - "path_uv_every_3_frames": [ - [ - 420.8, - 249.3 - ], - [ - 420.1, - 248.2 - ], - [ - 419.6, - 247.1 - ], - [ - 419.4, - 246.9 - ], - [ - 419.5, - 245.7 - ], - [ - 419.4, - 244.6 - ], - [ - 419.3, - 243.4 - ], - [ - 419.5, - 242.2 - ], - [ - 420.4, - 241.8 - ], - [ - 420.9, - 242.2 - ], - [ - 421.4, - 241.8 - ], - [ - 421.4, - 241.7 - ], - [ - 421.1, - 240.2 - ], - [ - 420.8, - 238.5 - ], - [ - 420.0, - 236.3 - ], - [ - 419.6, - 233.3 - ], - [ - 418.7, - 229.0 - ], - [ - 416.5, - 222.1 - ], - [ - 411.4, - 216.3 - 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By the time the jaws shut, the gripper site has moved +1.4 cm forward, +6.7 cm to the robot's left and -1.7 cm up from where it is now (path length 19.7 cm); in the top camera that is -28 px right and -2 px down. Gripper command: now 0.55 open; starts closing at +0.97 s and is shut (0.34) at +1.97 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5088, - -0.102, - 0.8394 - ], - "grasp_site_now_uv": [ - 367.9, - 270.4 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5233, - -0.0348, - 0.8222 - ], - "grasp_site_at_shut_uv": [ - 340.1, - 268.2 - ], - "shut_in_top_view": true, - "close_onset_frame": 29, - "close_done_frame": 59, - "path_len_cm": 19.7, - "path_uv_every_3_frames": [ - [ - 359.0, - 264.6 - ], - [ - 348.5, - 261.5 - ], - [ - 337.3, - 258.8 - ], - [ - 328.1, - 257.2 - ], - [ - 320.7, - 257.2 - ], - [ - 315.0, - 257.5 - ], - [ - 313.4, - 257.1 - ], - [ - 313.5, - 256.6 - ], - [ - 314.3, - 256.7 - ], - [ - 314.9, - 257.6 - ], - [ - 316.2, - 257.8 - ], - [ - 319.1, - 258.0 - ], - [ - 322.2, - 258.4 - ], - [ - 325.2, - 259.4 - ], - [ - 328.5, - 261.3 - ], - [ - 331.7, - 263.0 - ], - [ - 335.1, - 264.5 - ], - [ - 337.5, - 266.5 - ], - [ - 338.7, - 267.7 - 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"plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +0.7 cm forward, +1.6 cm to the robot's left and -1.0 cm up from where it is now (path length 2.6 cm); in the top camera that is -9 px right and -1 px down. Gripper command: now 0.51 open; starts closing at +0.00 s and is shut (0.00) at +0.70 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5235, - -0.312, - 0.8265 - ], - "grasp_site_now_uv": [ - 563.7, - 269.4 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5306, - -0.296, - 0.8165 - ], - "grasp_site_at_shut_uv": [ - 555.1, - 268.6 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 21, - "path_len_cm": 2.6, - "path_uv_every_3_frames": [ - [ - 560.3, - 269.2 - ], - [ - 559.2, - 268.2 - ], - [ - 558.3, - 268.5 - ], - [ - 557.7, - 267.5 - ], - [ - 557.2, - 267.8 - ], - [ - 556.6, - 266.9 - ], - [ - 556.8, - 268.0 - ], - [ - 555.1, - 268.6 - ], - [ - 555.1, - 268.6 - ], - [ - 555.1, - 268.6 - ], - [ - 555.1, - 268.6 - ], - [ - 555.1, - 268.6 - ], - [ - 555.1, - 268.6 - ], - [ - 555.1, - 268.6 - ], - [ - 555.1, - 268.6 - ], - [ - 555.1, - 268.6 - ], - [ - 555.1, - 268.6 - ], - [ - 555.1, - 268.6 - ], - [ - 555.1, - 268.6 - ], - 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0.35285, - 0.25934, - 0.21336, - -0.83297, - 0.13221, - 1.31296, - 1.3651, - 0.59664, - -0.1195, - 0.42631, - 0.5998, - 0.50238 - ] - ], - "state_t": [ - -0.60788, - 2.31842, - 2.09411, - -0.39006, - -0.41981, - 0.46979, - 0.58294, - 0.73835, - 0.60559, - 0.56325, - -0.44003, - 0.11425, - 0.61475, - 0.46882 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -41.7 cm forward, +2.3 cm to the robot's left and -15.9 cm up from where it is now (path length 50.2 cm); in the top camera that is -11 px right and +190 px down. Gripper command: now 0.58 open; starts closing at +0.00 s and is shut (0.13) at +2.07 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.8166, - 0.0019, - 0.9295 - ], - "grasp_site_now_uv": [ - 326.1, - 141.2 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4, - 0.0253, - 0.7707 - ], - "grasp_site_at_shut_uv": [ - 315.6, - 331.2 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 62, - "path_len_cm": 50.2, - "path_uv_every_3_frames": [ - [ - 321.1, - 143.9 - ], - [ - 313.8, - 169.9 - ], - [ - 310.9, - 199.7 - ], - [ - 300.6, - 223.7 - ], - [ - 295.4, - 236.8 - ], - [ - 294.1, - 245.2 - ], - [ - 300.2, - 252.7 - ], - [ - 309.4, - 263.4 - ], - [ - 317.9, - 274.5 - ], - [ - 326.9, - 290.9 - ], - [ - 332.0, - 303.0 - ], - [ - 333.6, - 311.4 - ], - [ - 332.7, - 315.9 - ], - [ - 332.7, - 318.5 - ], - [ - 330.6, - 320.8 - ], - [ - 326.7, - 324.1 - ], - [ - 323.7, - 327.1 - ], - [ - 322.6, - 328.8 - ], - [ - 321.3, - 331.0 - ], - 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By the time the jaws shut, the gripper site has moved +3.6 cm forward, +1.2 cm to the robot's left and -1.5 cm up from where it is now (path length 7.7 cm); in the top camera that is -8 px right and -5 px down. Gripper command: now 0.99 open; starts closing at +0.00 s and is shut (0.10) at +1.30 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.8839, - -0.294, - 0.9589 - ], - "grasp_site_now_uv": [ - 436.2, - 126.5 - ], - "grasp_site_at_shut_xyz_m": [ - 0.9203, - -0.2816, - 0.9441 - ], - "grasp_site_at_shut_uv": [ - 428.6, - 121.1 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 39, - "path_len_cm": 7.7, - "path_uv_every_3_frames": [ - [ - 438.6, - 119.4 - ], - [ - 437.1, - 119.0 - ], - [ - 436.4, - 119.5 - ], - [ - 436.5, - 119.9 - ], - [ - 436.9, - 119.5 - ], - [ - 434.7, - 119.3 - ], - [ - 431.9, - 119.8 - ], - [ - 429.9, - 120.4 - ], - [ - 428.7, - 120.7 - ], - [ - 428.0, - 121.3 - ], - [ - 428.0, - 121.8 - ], - [ - 428.7, - 121.7 - ], - [ - 428.9, - 121.6 - ], - [ - 428.6, - 121.1 - ], - [ - 428.6, - 121.1 - ], - [ - 428.6, - 121.1 - ], - [ - 428.6, - 121.1 - ], - [ - 428.6, - 121.1 - ], - [ - 428.6, - 121.1 - 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By the time the jaws shut, the gripper site has moved +5.9 cm forward, +3.4 cm to the robot's left and -0.9 cm up from where it is now (path length 9.5 cm); in the top camera that is -17 px right and -21 px down. Gripper command: now 0.96 open; starts closing at +0.00 s and is shut (0.08) at +1.30 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.6155, - 0.0568, - 1.1328 - ], - "grasp_site_now_uv": [ - 290.2, - 145.1 - ], - "grasp_site_at_shut_xyz_m": [ - 0.6746, - 0.0907, - 1.1243 - ], - "grasp_site_at_shut_uv": [ - 273.3, - 124.2 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 39, - "path_len_cm": 9.5, - "path_uv_every_3_frames": [ - [ - 288.9, - 141.9 - ], - [ - 290.3, - 143.6 - ], - [ - 292.0, - 144.0 - ], - [ - 290.9, - 141.6 - ], - [ - 291.8, - 139.6 - ], - [ - 292.1, - 138.7 - ], - [ - 288.9, - 135.9 - ], - [ - 286.3, - 133.3 - ], - [ - 279.7, - 128.6 - ], - [ - 276.4, - 126.5 - ], - [ - 273.6, - 124.3 - ], - [ - 272.6, - 123.6 - ], - [ - 271.2, - 123.3 - ], - [ - 273.3, - 124.2 - ], - [ - 273.3, - 124.2 - ], - [ - 273.3, - 124.2 - ], - [ - 273.3, - 124.2 - ], - [ - 273.3, - 124.2 - ], - [ - 273.3, - 124.2 - ], - 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By the time the jaws shut, the gripper site has moved +0.1 cm forward, +23.1 cm to the robot's left and +5.8 cm up from where it is now (path length 25.8 cm); in the top camera that is -132 px right and -25 px down. Gripper command: now 0.75 open; starts closing at +0.13 s and is shut (0.33) at +1.83 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5971, - -0.1348, - 1.1885 - ], - "grasp_site_now_uv": [ - 393.8, - 136.3 - ], - "grasp_site_at_shut_xyz_m": [ - 0.598, - 0.0961, - 1.2463 - ], - "grasp_site_at_shut_uv": [ - 261.9, - 111.1 - ], - "shut_in_top_view": true, - "close_onset_frame": 4, - "close_done_frame": 55, - "path_len_cm": 25.8, - "path_uv_every_3_frames": [ - [ - 394.1, - 123.5 - ], - [ - 390.7, - 118.7 - ], - [ - 386.2, - 113.1 - ], - [ - 378.8, - 108.7 - ], - [ - 367.5, - 105.8 - ], - [ - 354.4, - 103.8 - ], - [ - 342.5, - 101.8 - ], - [ - 330.7, - 99.8 - ], - [ - 319.6, - 97.1 - ], - [ - 307.0, - 96.4 - ], - [ - 296.0, - 96.3 - ], - [ - 286.6, - 97.8 - ], - [ - 281.4, - 99.3 - ], - [ - 273.2, - 103.4 - ], - [ - 268.8, - 105.9 - ], - [ - 265.7, - 106.7 - ], - [ - 264.0, - 108.7 - ], - [ - 263.3, - 109.2 - ], - [ - 261.8, - 110.5 - ], - [ - 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-1.00118, - 1.20565, - 0.66052, - 0.27638, - 0.20657, - -0.10014, - 0.11571, - 0.56935, - 0.8959, - 0.8753, - 0.15011, - -0.51289, - 0.25463, - 0.66517 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -2.2 cm forward, +1.2 cm to the robot's left and +2.7 cm up from where it is now (path length 2.8 cm); in the top camera that is -6 px right and +1 px down. Gripper command: now 0.65 open; starts closing at +0.00 s and is shut (0.01) at +0.33 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4783, - -0.0664, - 1.1538 - ], - "grasp_site_now_uv": [ - 360.6, - 205.7 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4562, - -0.054, - 1.1807 - ], - "grasp_site_at_shut_uv": [ - 355.0, - 207.2 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 10, - "path_len_cm": 2.8, - "path_uv_every_3_frames": [ - [ - 355.7, - 203.0 - ], - [ - 352.2, - 203.7 - ], - [ - 351.7, - 204.5 - ], - [ - 354.1, - 206.6 - ], - [ - 355.0, - 207.2 - ], - [ - 355.0, - 207.2 - ], - [ - 355.0, - 207.2 - ], - [ - 355.0, - 207.2 - ], - [ - 355.0, - 207.2 - ], - [ - 355.0, - 207.2 - ], - [ - 355.0, - 207.2 - ], - [ - 355.0, - 207.2 - ], - [ - 355.0, - 207.2 - ], - [ - 355.0, - 207.2 - ], - [ - 355.0, - 207.2 - ], - [ - 355.0, - 207.2 - ], - [ - 355.0, - 207.2 - ], - [ - 355.0, - 207.2 - ], - [ - 355.0, - 207.2 - 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2.02025, - 0.03725, - -0.25807, - -0.06793, - 0.0, - 0.06676, - 1.25984, - 0.85948, - -0.53919, - -0.7845, - 0.43212, - 0.51968 - ], - [ - -1.18883, - 2.45613, - 2.02025, - 0.03725, - -0.25807, - -0.06793, - 0.0, - 0.06676, - 1.25984, - 0.85948, - -0.53919, - -0.7845, - 0.43212, - 0.51968 - ] - ], - "state_t": [ - -1.18582, - 2.43629, - 1.93008, - -0.19932, - -0.0494, - -0.08869, - 0.85826, - 0.05436, - 1.33154, - 0.68723, - -0.26875, - -0.86461, - 0.54952, - 0.30379 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +4.6 cm forward, -2.6 cm to the robot's left and +7.9 cm up from where it is now (path length 9.3 cm); in the top camera that is +20 px right and -28 px down. Gripper command: now 0.86 open; starts closing at +0.10 s and is shut (0.00) at +1.53 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5044, - -0.2892, - 0.8107 - ], - "grasp_site_now_uv": [ - 428.0, - 268.5 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5505, - -0.3155, - 0.8895 - ], - "grasp_site_at_shut_uv": [ - 447.5, - 240.4 - ], - "shut_in_top_view": true, - "close_onset_frame": 3, - "close_done_frame": 46, - "path_len_cm": 9.3, - "path_uv_every_3_frames": [ - [ - 439.5, - 262.2 - ], - [ - 441.6, - 259.7 - ], - [ - 442.2, - 257.0 - ], - [ - 442.0, - 254.9 - ], - [ - 443.6, - 252.7 - ], - [ - 445.2, - 250.4 - ], - [ - 445.2, - 249.1 - ], - [ - 445.3, - 248.4 - ], - [ - 445.1, - 247.9 - ], - [ - 445.1, - 247.4 - ], - [ - 445.0, - 247.1 - ], - [ - 444.9, - 246.1 - ], - [ - 445.0, - 244.8 - ], - [ - 445.9, - 243.8 - ], - [ - 446.6, - 242.8 - ], - [ - 447.3, - 241.0 - ], - [ - 447.5, - 240.4 - ], - [ - 447.5, - 240.4 - ], - [ - 447.5, - 240.4 - 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0.75938, - -0.65047, - 0.16683, - 0.16567, - 1.63371, - 0.63198, - 0.11046, - -0.96016, - 0.3881, - 0.08275 - ], - [ - -0.44792, - 1.94196, - 0.91256, - 0.09522, - 0.75938, - -0.65047, - 0.16683, - 0.16567, - 1.63371, - 0.63198, - 0.11046, - -0.96016, - 0.3881, - 0.08275 - ] - ], - "state_t": [ - -0.4881, - 1.5486, - 0.83791, - -0.30957, - 0.1688, - -0.61818, - 0.73474, - -0.02003, - 1.322, - 0.53006, - -0.12646, - -0.70211, - 0.30537, - 0.6772 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +0.4 cm forward, +8.7 cm to the robot's left and -0.6 cm up from where it is now (path length 16.3 cm); in the top camera that is -38 px right and -0 px down. Gripper command: now 0.68 open; starts closing at +1.03 s and is shut (0.08) at +1.73 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5482, - -0.2061, - 0.8257 - ], - "grasp_site_now_uv": [ - 405.6, - 258.5 - ], - "grasp_site_at_shut_xyz_m": [ - 0.552, - -0.1187, - 0.82 - ], - "grasp_site_at_shut_uv": [ - 367.1, - 258.2 - ], - "shut_in_top_view": true, - "close_onset_frame": 31, - "close_done_frame": 52, - "path_len_cm": 16.3, - "path_uv_every_3_frames": [ - [ - 401.5, - 253.8 - ], - [ - 399.5, - 256.9 - ], - [ - 398.3, - 257.4 - ], - [ - 392.2, - 259.2 - ], - [ - 389.7, - 260.9 - ], - [ - 386.1, - 263.0 - ], - [ - 382.7, - 263.8 - ], - [ - 379.9, - 267.2 - ], - [ - 377.1, - 268.9 - ], - [ - 375.7, - 270.0 - ], - [ - 372.9, - 271.2 - ], - [ - 371.1, - 272.5 - ], - [ - 371.1, - 271.5 - ], - [ - 371.3, - 270.8 - ], - [ - 370.5, - 266.2 - ], - [ - 368.9, - 261.4 - ], - [ - 368.5, - 259.5 - ], - [ - 367.5, - 258.9 - ], - [ - 367.1, - 258.2 - 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By the time the jaws shut, the gripper site has moved -3.2 cm forward, +1.5 cm to the robot's left and +8.1 cm up from where it is now (path length 9.3 cm); in the top camera that is -20 px right and -12 px down. Gripper command: now 0.89 open; starts closing at +0.10 s and is shut (0.02) at +1.27 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5348, - 0.16, - 1.0482 - ], - "grasp_site_now_uv": [ - 234.2, - 215.3 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5032, - 0.1747, - 1.1291 - ], - "grasp_site_at_shut_uv": [ - 214.6, - 203.3 - ], - "shut_in_top_view": true, - "close_onset_frame": 3, - "close_done_frame": 38, - "path_len_cm": 9.3, - "path_uv_every_3_frames": [ - [ - 231.0, - 209.3 - ], - [ - 231.4, - 210.5 - ], - [ - 232.0, - 211.0 - ], - [ - 232.2, - 210.3 - ], - [ - 232.6, - 210.2 - ], - [ - 231.9, - 210.2 - ], - [ - 230.6, - 210.8 - ], - [ - 228.6, - 211.5 - ], - [ - 227.0, - 212.2 - ], - [ - 224.5, - 213.3 - ], - [ - 221.4, - 214.5 - ], - [ - 218.0, - 213.8 - ], - [ - 215.5, - 209.1 - ], - [ - 214.6, - 203.3 - ], - [ - 214.6, - 203.3 - ], - [ - 214.6, - 203.3 - ], - [ - 214.6, - 203.3 - ], - [ - 214.6, - 203.3 - ], - [ - 214.6, - 203.3 - ], - 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0.46328, - 1.66284, - 0.42642, - -0.96802, - 0.64938, - 0.72866, - 2.13837, - 2.13222, - -0.6596, - 0.44179, - 0.69029, - 0.30092 - ], - [ - -0.41264, - 1.712, - 0.46328, - 1.66284, - 0.42642, - -0.96802, - 0.64938, - 0.72866, - 2.13837, - 2.13222, - -0.6596, - 0.44179, - 0.69029, - 0.30092 - ] - ], - "state_t": [ - -0.63077, - 0.19436, - 0.64755, - -0.36412, - -0.38968, - -0.16079, - 0.99319, - 0.85203, - 1.75383, - 1.53449, - -0.49725, - 0.42897, - 0.59071, - 0.7732 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +15.1 cm forward, -16.8 cm to the robot's left and -9.3 cm up from where it is now (path length 36.0 cm); in the top camera that is +112 px right and -42 px down. Gripper command: now 1.00 open; starts closing at +0.93 s and is shut (0.65) at +2.17 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4402, - 0.2529, - 1.0968 - ], - "grasp_site_now_uv": [ - 165.1, - 236.5 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5917, - 0.0848, - 1.004 - ], - "grasp_site_at_shut_uv": [ - 277.2, - 194.1 - ], - "shut_in_top_view": true, - "close_onset_frame": 28, - "close_done_frame": 65, - "path_len_cm": 36.0, - "path_uv_every_3_frames": [ - [ - 165.0, - 235.4 - ], - [ - 165.9, - 235.4 - ], - [ - 165.8, - 235.3 - ], - [ - 166.9, - 235.1 - ], - [ - 170.4, - 234.0 - ], - [ - 175.9, - 231.6 - ], - [ - 181.4, - 226.0 - ], - [ - 195.3, - 221.8 - ], - [ - 215.1, - 219.3 - ], - [ - 231.2, - 219.8 - ], - [ - 244.2, - 223.2 - ], - [ - 252.6, - 219.8 - ], - [ - 257.0, - 216.0 - ], - [ - 263.0, - 212.3 - ], - [ - 265.2, - 208.4 - ], - [ - 264.9, - 204.3 - ], - [ - 264.7, - 199.8 - ], - [ - 264.8, - 195.0 - ], - [ - 267.9, - 194.9 - 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0.58087 - ], - [ - -0.75121, - 1.70686, - 1.02009, - -0.13579, - 0.25008, - 1.0063, - 0.6317, - 0.13931, - 1.31974, - 0.82491, - -0.38662, - -0.37599, - 0.31429, - 0.58087 - ], - [ - -0.75121, - 1.70686, - 1.02009, - -0.13579, - 0.25008, - 1.0063, - 0.6317, - 0.13931, - 1.31974, - 0.82491, - -0.38662, - -0.37599, - 0.31429, - 0.58087 - ] - ], - "state_t": [ - -0.68112, - 2.16964, - 1.81029, - -0.10204, - 0.29088, - 0.26226, - 0.98747, - -0.0452, - 1.00004, - 0.70668, - -0.77344, - -0.24853, - 0.50298, - 0.4019 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -16.3 cm forward, +10.0 cm to the robot's left and -10.5 cm up from where it is now (path length 51.2 cm); in the top camera that is -41 px right and +78 px down. Gripper command: now 0.99 open; starts closing at +0.03 s and is shut (0.63) at +1.50 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.7123, - -0.1254, - 0.9466 - ], - "grasp_site_now_uv": [ - 373.2, - 173.6 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5495, - -0.025, - 0.8417 - ], - "grasp_site_at_shut_uv": [ - 332.6, - 251.5 - ], - "shut_in_top_view": true, - "close_onset_frame": 1, - "close_done_frame": 45, - "path_len_cm": 51.2, - "path_uv_every_3_frames": [ - [ - 359.1, - 178.4 - ], - [ - 357.0, - 188.1 - ], - [ - 352.1, - 202.9 - ], - [ - 342.3, - 218.0 - ], - [ - 332.6, - 234.0 - ], - [ - 325.7, - 247.9 - ], - [ - 317.5, - 254.8 - ], - [ - 311.3, - 251.1 - ], - [ - 310.6, - 244.9 - ], - [ - 314.9, - 249.0 - ], - [ - 317.4, - 259.2 - ], - [ - 318.7, - 256.5 - ], - [ - 321.1, - 252.1 - ], - [ - 324.8, - 246.4 - ], - [ - 329.0, - 246.9 - ], - [ - 332.6, - 251.5 - ], - [ - 332.6, - 251.5 - ], - [ - 332.6, - 251.5 - ], - [ - 332.6, - 251.5 - 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By the time the jaws shut, the gripper site has moved -1.4 cm forward, -1.7 cm to the robot's left and -0.9 cm up from where it is now (path length 2.8 cm); in the top camera that is +9 px right and +9 px down. Gripper command: now 0.99 open; starts closing at +0.00 s and is shut (0.54) at +0.67 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4896, - 0.0911, - 1.0224 - ], - "grasp_site_now_uv": [ - 277.0, - 239.1 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4755, - 0.0739, - 1.0134 - ], - "grasp_site_at_shut_uv": [ - 286.4, - 248.2 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 20, - "path_len_cm": 2.8, - "path_uv_every_3_frames": [ - [ - 279.1, - 239.2 - ], - [ - 281.1, - 240.7 - ], - [ - 283.2, - 243.0 - ], - [ - 285.3, - 246.2 - ], - [ - 286.5, - 246.4 - ], - [ - 287.0, - 247.5 - ], - [ - 286.6, - 248.0 - ], - [ - 286.4, - 248.2 - ], - [ - 286.4, - 248.2 - ], - [ - 286.4, - 248.2 - ], - [ - 286.4, - 248.2 - ], - [ - 286.4, - 248.2 - ], - [ - 286.4, - 248.2 - ], - [ - 286.4, - 248.2 - ], - [ - 286.4, - 248.2 - ], - [ - 286.4, - 248.2 - ], - [ - 286.4, - 248.2 - ], - [ - 286.4, - 248.2 - ], - [ - 286.4, - 248.2 - ], - 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By the time the jaws shut, the gripper site has moved +6.3 cm forward, -47.3 cm to the robot's left and -3.2 cm up from where it is now (path length 55.8 cm); in the top camera that is +241 px right and -18 px down. Gripper command: now 0.95 open; starts closing at +1.13 s and is shut (0.60) at +2.90 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5089, - 0.2175, - 1.0104 - ], - "grasp_site_now_uv": [ - 310.4, - 230.3 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5716, - -0.255, - 0.9785 - ], - "grasp_site_at_shut_uv": [ - 551.5, - 212.1 - ], - "shut_in_top_view": true, - "close_onset_frame": 34, - "close_done_frame": 87, - "path_len_cm": 55.8, - "path_uv_every_3_frames": [ - [ - 307.4, - 226.0 - ], - [ - 307.6, - 226.1 - ], - [ - 307.6, - 226.2 - ], - [ - 307.3, - 226.1 - ], - [ - 306.9, - 226.4 - ], - [ - 306.6, - 226.3 - ], - [ - 306.6, - 226.3 - ], - [ - 306.7, - 226.3 - ], - [ - 307.0, - 226.4 - ], - [ - 307.0, - 226.2 - ], - [ - 306.9, - 226.3 - ], - [ - 307.7, - 226.2 - ], - [ - 313.5, - 225.8 - ], - [ - 326.4, - 224.9 - ], - [ - 339.2, - 221.5 - ], - [ - 359.9, - 217.6 - ], - [ - 379.0, - 218.7 - ], - [ - 397.3, - 215.3 - ], - [ - 414.1, - 210.1 - 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By the time the jaws shut, the gripper site has moved +4.7 cm forward, +0.6 cm to the robot's left and -1.8 cm up from where it is now (path length 6.0 cm); in the top camera that is -4 px right and -16 px down. Gripper command: now 0.64 open; starts closing at +0.27 s and is shut (0.00) at +1.03 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4495, - -0.093, - 0.8373 - ], - "grasp_site_now_uv": [ - 363.1, - 293.4 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4963, - -0.0867, - 0.8196 - ], - "grasp_site_at_shut_uv": [ - 358.6, - 277.1 - ], - "shut_in_top_view": true, - "close_onset_frame": 8, - "close_done_frame": 31, - "path_len_cm": 6.0, - "path_uv_every_3_frames": [ - [ - 362.0, - 284.8 - ], - [ - 360.2, - 279.8 - ], - [ - 358.4, - 277.1 - ], - [ - 356.7, - 278.0 - ], - [ - 355.1, - 278.2 - ], - [ - 354.5, - 279.7 - ], - [ - 354.7, - 278.7 - ], - [ - 354.1, - 277.9 - ], - [ - 354.6, - 276.8 - ], - [ - 356.7, - 278.3 - ], - [ - 358.5, - 278.1 - ], - [ - 358.6, - 277.1 - ], - [ - 358.6, - 277.1 - ], - [ - 358.6, - 277.1 - ], - [ - 358.6, - 277.1 - ], - [ - 358.6, - 277.1 - ], - [ - 358.6, - 277.1 - ], - [ - 358.6, - 277.1 - ], - [ - 358.6, - 277.1 - 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1.17834, - -0.68218, - 0.13959, - -0.48519, - 0.0, - 0.4562, - 1.47279, - 1.12332, - -0.93038, - -0.4049, - 0.45742, - 0.50613 - ] - ], - "state_t": [ - -0.45529, - 1.72942, - 1.06641, - -0.68723, - 0.3069, - -0.6075, - 0.77758, - 0.46368, - 1.56844, - 1.19688, - -0.89055, - -0.44041, - 0.47894, - 0.50716 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +3.2 cm forward, +0.3 cm to the robot's left and -2.4 cm up from where it is now (path length 11.0 cm); in the top camera that is +0 px right and -7 px down. Gripper command: now 0.78 open; starts closing at +0.00 s and is shut (0.00) at +0.93 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5383, - 0.1129, - 0.7908 - ], - "grasp_site_now_uv": [ - 281.1, - 267.4 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5707, - 0.1163, - 0.767 - ], - "grasp_site_at_shut_uv": [ - 281.3, - 260.5 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 28, - "path_len_cm": 11.0, - "path_uv_every_3_frames": [ - [ - 285.2, - 260.8 - ], - [ - 286.1, - 259.8 - ], - [ - 287.5, - 259.6 - ], - [ - 290.1, - 260.7 - ], - [ - 289.6, - 264.4 - ], - [ - 287.4, - 269.9 - ], - [ - 286.8, - 273.0 - ], - [ - 287.1, - 273.3 - ], - [ - 286.2, - 270.7 - ], - [ - 283.1, - 264.0 - ], - [ - 281.3, - 260.5 - ], - [ - 281.3, - 260.5 - ], - [ - 281.3, - 260.5 - ], - [ - 281.3, - 260.5 - ], - [ - 281.3, - 260.5 - ], - [ - 281.3, - 260.5 - ], - [ - 281.3, - 260.5 - ], - [ - 281.3, - 260.5 - ], - [ - 281.3, - 260.5 - ], - 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0.73148, - 0.09022, - -0.43088, - 0.75017, - 0.7376 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -3.2 cm forward, +0.2 cm to the robot's left and +1.8 cm up from where it is now (path length 5.6 cm); in the top camera that is +0 px right and +10 px down. Gripper command: now 0.74 open; starts closing at +0.07 s and is shut (0.01) at +1.30 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4636, - -0.0567, - 1.0898 - ], - "grasp_site_now_uv": [ - 353.4, - 228.8 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4313, - -0.055, - 1.1078 - ], - "grasp_site_at_shut_uv": [ - 353.9, - 239.1 - ], - "shut_in_top_view": true, - "close_onset_frame": 2, - "close_done_frame": 39, - "path_len_cm": 5.6, - "path_uv_every_3_frames": [ - [ - 350.0, - 239.6 - ], - [ - 350.8, - 243.5 - ], - [ - 350.3, - 246.6 - ], - [ - 350.5, - 248.1 - ], - [ - 351.5, - 248.4 - ], - [ - 352.8, - 248.2 - ], - [ - 353.8, - 247.4 - ], - [ - 354.2, - 246.9 - ], - [ - 354.9, - 246.1 - ], - [ - 356.0, - 244.9 - ], - [ - 356.4, - 243.4 - ], - [ - 356.1, - 241.9 - ], - [ - 355.0, - 240.6 - ], - [ - 353.9, - 239.1 - ], - [ - 353.9, - 239.1 - ], - [ - 353.9, - 239.1 - ], - [ - 353.9, - 239.1 - ], - [ - 353.9, - 239.1 - ], - [ - 353.9, - 239.1 - 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By the time the jaws shut, the gripper site has moved +1.1 cm forward, +0.8 cm to the robot's left and +3.7 cm up from where it is now (path length 4.7 cm); in the top camera that is -4 px right and -14 px down. Gripper command: now 0.53 open; starts closing at +0.00 s and is shut (0.08) at +0.80 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.7698, - 0.0888, - 0.9076 - ], - "grasp_site_now_uv": [ - 284.4, - 167.0 - ], - "grasp_site_at_shut_xyz_m": [ - 0.7808, - 0.0966, - 0.9444 - ], - "grasp_site_at_shut_uv": [ - 280.1, - 152.9 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 24, - "path_len_cm": 4.7, - "path_uv_every_3_frames": [ - [ - 280.1, - 153.9 - ], - [ - 279.3, - 155.7 - ], - [ - 278.5, - 157.4 - ], - [ - 280.3, - 158.1 - ], - [ - 280.3, - 158.9 - ], - [ - 280.3, - 158.9 - ], - [ - 279.7, - 157.3 - ], - [ - 279.7, - 154.9 - ], - [ - 280.1, - 152.9 - ], - [ - 280.1, - 152.9 - ], - [ - 280.1, - 152.9 - ], - [ - 280.1, - 152.9 - ], - [ - 280.1, - 152.9 - ], - [ - 280.1, - 152.9 - ], - [ - 280.1, - 152.9 - ], - [ - 280.1, - 152.9 - ], - [ - 280.1, - 152.9 - ], - [ - 280.1, - 152.9 - ], - [ - 280.1, - 152.9 - ], - 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1.45056, - -0.60178, - 0.08412, - -0.42859, - 0.03839, - 0.09785, - 1.14042, - 0.89475, - -0.4984, - -0.35573, - 0.7002, - 0.59439 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +16.7 cm forward, +1.7 cm to the robot's left and -17.2 cm up from where it is now (path length 36.7 cm); in the top camera that is -28 px right and -18 px down. Gripper command: now 0.60 open; starts closing at +0.03 s and is shut (0.29) at +0.83 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5789, - -0.2185, - 0.9445 - ], - "grasp_site_now_uv": [ - 428.2, - 218.6 - ], - "grasp_site_at_shut_xyz_m": [ - 0.7464, - -0.2015, - 0.7723 - ], - "grasp_site_at_shut_uv": [ - 400.6, - 200.9 - ], - "shut_in_top_view": true, - "close_onset_frame": 1, - "close_done_frame": 25, - "path_len_cm": 36.7, - "path_uv_every_3_frames": [ - [ - 416.1, - 184.6 - ], - [ - 405.3, - 168.7 - ], - [ - 399.1, - 159.4 - ], - [ - 396.0, - 155.7 - ], - [ - 394.7, - 152.2 - ], - [ - 396.3, - 158.4 - ], - [ - 397.1, - 167.4 - ], - [ - 399.1, - 183.2 - ], - [ - 400.4, - 197.4 - ], - [ - 400.6, - 200.9 - ], - [ - 400.6, - 200.9 - ], - [ - 400.6, - 200.9 - ], - [ - 400.6, - 200.9 - ], - [ - 400.6, - 200.9 - ], - [ - 400.6, - 200.9 - ], - [ - 400.6, - 200.9 - ], - [ - 400.6, - 200.9 - ], - [ - 400.6, - 200.9 - ], - [ - 400.6, - 200.9 - 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By the time the jaws shut, the gripper site has moved -0.4 cm forward, +0.4 cm to the robot's left and -1.9 cm up from where it is now (path length 1.7 cm); in the top camera that is -2 px right and +5 px down. Gripper command: now 0.90 open; starts closing at +0.00 s and is shut (0.00) at +1.67 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.6183, - -0.0512, - 0.7948 - ], - "grasp_site_now_uv": [ - 447.0, - 240.3 - ], - "grasp_site_at_shut_xyz_m": [ - 0.6147, - -0.0477, - 0.776 - ], - "grasp_site_at_shut_uv": [ - 445.2, - 245.4 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 50, - "path_len_cm": 1.7, - "path_uv_every_3_frames": [ - [ - 442.5, - 244.8 - ], - [ - 442.6, - 245.2 - ], - [ - 443.2, - 245.2 - ], - [ - 443.3, - 244.8 - ], - [ - 443.1, - 245.2 - ], - [ - 443.3, - 245.3 - ], - [ - 443.6, - 244.9 - ], - [ - 443.4, - 245.0 - ], - [ - 443.2, - 244.9 - ], - [ - 443.9, - 244.8 - ], - [ - 444.1, - 245.2 - ], - [ - 444.4, - 245.3 - ], - [ - 444.2, - 245.2 - ], - [ - 444.4, - 245.2 - ], - [ - 444.7, - 245.4 - ], - [ - 445.0, - 245.2 - ], - [ - 445.0, - 245.1 - ], - [ - 445.2, - 245.4 - ], - [ - 445.2, - 245.4 - 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By the time the jaws shut, the gripper site has moved +1.0 cm forward, -6.2 cm to the robot's left and -12.3 cm up from where it is now (path length 16.9 cm); in the top camera that is +16 px right and +21 px down. Gripper command: now 0.97 open; starts closing at +0.10 s and is shut (0.04) at +2.03 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5435, - -0.1925, - 0.8868 - ], - "grasp_site_now_uv": [ - 404.6, - 247.3 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5538, - -0.2545, - 0.764 - ], - "grasp_site_at_shut_uv": [ - 420.7, - 268.3 - ], - "shut_in_top_view": true, - "close_onset_frame": 3, - "close_done_frame": 61, - "path_len_cm": 16.9, - "path_uv_every_3_frames": [ - [ - 412.1, - 243.6 - ], - [ - 415.8, - 248.2 - ], - [ - 417.4, - 253.2 - ], - [ - 422.2, - 256.3 - ], - [ - 424.2, - 260.5 - ], - [ - 423.7, - 262.9 - ], - [ - 423.3, - 263.9 - ], - [ - 423.7, - 263.6 - ], - [ - 423.6, - 263.5 - ], - [ - 422.5, - 266.3 - ], - [ - 421.6, - 269.1 - ], - [ - 421.0, - 270.5 - ], - [ - 420.9, - 269.9 - ], - [ - 420.7, - 268.9 - ], - [ - 421.4, - 269.0 - ], - [ - 423.0, - 269.5 - ], - [ - 423.5, - 270.3 - ], - [ - 422.2, - 271.2 - ], - [ - 423.1, - 271.4 - 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By the time the jaws shut, the gripper site has moved -7.0 cm forward, +4.8 cm to the robot's left and -12.7 cm up from where it is now (path length 25.6 cm); in the top camera that is -23 px right and +82 px down. Gripper command: now 0.78 open; starts closing at +1.43 s and is shut (0.00) at +1.93 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5716, - 0.0796, - 1.2055 - ], - "grasp_site_now_uv": [ - 271.8, - 129.7 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5015, - 0.1274, - 1.0789 - ], - "grasp_site_at_shut_uv": [ - 249.1, - 212.2 - ], - "shut_in_top_view": true, - "close_onset_frame": 43, - "close_done_frame": 58, - "path_len_cm": 25.6, - "path_uv_every_3_frames": [ - [ - 240.0, - 131.0 - ], - [ - 236.0, - 141.1 - ], - [ - 236.0, - 151.3 - ], - [ - 233.4, - 165.0 - ], - [ - 229.9, - 180.1 - ], - [ - 231.2, - 192.4 - ], - [ - 236.5, - 200.3 - ], - [ - 243.1, - 205.5 - ], - [ - 249.2, - 210.7 - ], - [ - 254.2, - 213.9 - ], - [ - 259.1, - 215.7 - ], - [ - 262.1, - 215.1 - ], - [ - 262.9, - 214.3 - ], - [ - 259.5, - 213.3 - ], - [ - 259.4, - 211.3 - ], - [ - 259.0, - 208.9 - ], - [ - 256.2, - 207.7 - ], - [ - 254.6, - 208.2 - ], - [ - 252.0, - 209.0 - 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By the time the jaws shut, the gripper site has moved -0.2 cm forward, -1.0 cm to the robot's left and -2.7 cm up from where it is now (path length 5.7 cm); in the top camera that is +2 px right and +5 px down. Gripper command: now 0.77 open; starts closing at +0.07 s and is shut (0.04) at +1.30 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4299, - -0.1144, - 1.028 - ], - "grasp_site_now_uv": [ - 365.5, - 249.3 - ], - "grasp_site_at_shut_xyz_m": [ - 0.428, - -0.1242, - 1.0014 - ], - "grasp_site_at_shut_uv": [ - 368.0, - 254.4 - ], - "shut_in_top_view": true, - "close_onset_frame": 2, - "close_done_frame": 39, - "path_len_cm": 5.7, - "path_uv_every_3_frames": [ - [ - 363.2, - 251.6 - ], - [ - 363.7, - 253.9 - ], - [ - 365.1, - 255.1 - ], - [ - 365.4, - 254.5 - ], - [ - 366.4, - 254.5 - ], - [ - 367.2, - 255.5 - ], - [ - 367.0, - 256.2 - ], - [ - 366.9, - 256.4 - ], - [ - 367.8, - 256.7 - ], - [ - 368.4, - 256.9 - ], - [ - 368.4, - 256.5 - ], - [ - 368.6, - 255.8 - ], - [ - 368.6, - 255.1 - ], - [ - 368.0, - 254.4 - ], - [ - 368.0, - 254.4 - ], - [ - 368.0, - 254.4 - ], - [ - 368.0, - 254.4 - ], - [ - 368.0, - 254.4 - ], - [ - 368.0, - 254.4 - ], - 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0.0 - ] - ], - "state_t": [ - -0.04101, - 1.14805, - 1.60239, - -1.49367, - 0.8154, - 1.33612, - 0.10387, - 0.97868, - 0.78222, - 0.71202, - -0.29698, - -0.0639, - -0.23136, - 0.99589 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +1.0 cm forward, +9.4 cm to the robot's left and -1.0 cm up from where it is now (path length 11.4 cm); in the top camera that is -47 px right and -2 px down. Gripper command: now 1.00 open; starts closing at +0.20 s and is shut (0.00) at +1.23 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4158, - -0.0478, - 1.0053 - ], - "grasp_site_now_uv": [ - 345.6, - 272.7 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4253, - 0.046, - 0.9949 - ], - "grasp_site_at_shut_uv": [ - 298.6, - 270.7 - ], - "shut_in_top_view": true, - "close_onset_frame": 6, - "close_done_frame": 37, - "path_len_cm": 11.4, - "path_uv_every_3_frames": [ - [ - 341.6, - 272.7 - ], - [ - 334.5, - 273.2 - ], - [ - 330.2, - 269.7 - ], - [ - 326.5, - 267.7 - ], - [ - 323.0, - 266.2 - ], - [ - 320.5, - 265.1 - ], - [ - 317.4, - 266.1 - ], - [ - 315.0, - 267.1 - ], - [ - 313.2, - 267.3 - ], - [ - 309.3, - 268.4 - ], - [ - 305.7, - 269.7 - ], - [ - 302.6, - 270.6 - ], - [ - 299.5, - 270.6 - ], - [ - 298.6, - 270.7 - ], - [ - 298.6, - 270.7 - ], - [ - 298.6, - 270.7 - ], - [ - 298.6, - 270.7 - ], - [ - 298.6, - 270.7 - ], - [ - 298.6, - 270.7 - 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By the time the jaws shut, the gripper site has moved +0.6 cm forward, -3.2 cm to the robot's left and +1.3 cm up from where it is now (path length 6.8 cm); in the top camera that is +18 px right and -8 px down. Gripper command: now 0.73 open; starts closing at +0.00 s and is shut (0.01) at +0.50 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4883, - 0.1295, - 1.0913 - ], - "grasp_site_now_uv": [ - 349.3, - 215.9 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4945, - 0.0979, - 1.1047 - ], - "grasp_site_at_shut_uv": [ - 367.2, - 208.3 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 15, - "path_len_cm": 6.8, - "path_uv_every_3_frames": [ - [ - 352.6, - 204.6 - ], - [ - 360.7, - 203.9 - ], - [ - 371.3, - 206.1 - ], - [ - 378.2, - 210.0 - ], - [ - 374.0, - 209.6 - ], - [ - 367.2, - 208.3 - ], - [ - 367.2, - 208.3 - ], - [ - 367.2, - 208.3 - ], - [ - 367.2, - 208.3 - ], - [ - 367.2, - 208.3 - ], - [ - 367.2, - 208.3 - ], - [ - 367.2, - 208.3 - ], - [ - 367.2, - 208.3 - ], - [ - 367.2, - 208.3 - ], - [ - 367.2, - 208.3 - ], - [ - 367.2, - 208.3 - ], - [ - 367.2, - 208.3 - ], - [ - 367.2, - 208.3 - ], - [ - 367.2, - 208.3 - ], - 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By the time the jaws shut, the gripper site has moved +1.4 cm forward, +2.2 cm to the robot's left and +3.9 cm up from where it is now (path length 11.2 cm); in the top camera that is -12 px right and -17 px down. Gripper command: now 0.79 open; starts closing at +0.00 s and is shut (0.00) at +1.40 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5916, - 0.046, - 0.9692 - ], - "grasp_site_now_uv": [ - 300.4, - 205.2 - ], - "grasp_site_at_shut_xyz_m": [ - 0.6053, - 0.0683, - 1.0085 - ], - "grasp_site_at_shut_uv": [ - 288.5, - 188.2 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 42, - "path_len_cm": 11.2, - "path_uv_every_3_frames": [ - [ - 296.9, - 210.8 - ], - [ - 296.6, - 210.9 - ], - [ - 296.2, - 211.2 - ], - [ - 295.9, - 211.4 - ], - [ - 295.6, - 211.5 - ], - [ - 295.5, - 211.4 - ], - [ - 295.9, - 211.8 - ], - [ - 296.1, - 212.2 - ], - [ - 297.3, - 210.8 - ], - [ - 299.0, - 206.7 - ], - [ - 299.5, - 201.4 - ], - [ - 299.4, - 197.5 - ], - [ - 298.2, - 196.2 - ], - [ - 293.9, - 192.5 - ], - [ - 288.5, - 188.2 - ], - [ - 288.5, - 188.2 - ], - [ - 288.5, - 188.2 - ], - [ - 288.5, - 188.2 - ], - [ - 288.5, - 188.2 - ], - 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-0.18866, - -1.06458, - 0.0, - 0.89431, - 1.73016, - 1.13186, - 0.1307, - 0.3374, - 0.36042, - 0.0 - ], - [ - 0.05829, - 0.86995, - 0.42965, - -0.09824, - -0.18866, - -1.06458, - 0.0, - 0.89431, - 1.73016, - 1.13186, - 0.1307, - 0.3374, - 0.36042, - 0.0 - ], - [ - 0.05829, - 0.86995, - 0.42965, - -0.09824, - -0.18866, - -1.06458, - 0.0, - 0.89431, - 1.73016, - 1.13186, - 0.1307, - 0.3374, - 0.36042, - 0.0 - ] - ], - "state_t": [ - -0.0082, - 0.93748, - 0.52586, - -0.27104, - -0.11158, - -1.02941, - 0.96585, - 0.89551, - 1.6207, - 0.95655, - 0.28477, - 0.31758, - 0.34619, - 0.00914 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +0.1 cm forward, +3.3 cm to the robot's left and +1.2 cm up from where it is now (path length 9.8 cm); in the top camera that is -16 px right and -3 px down. Gripper command: now 0.97 open; starts closing at +0.07 s and is shut (0.00) at +1.13 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5534, - 0.3265, - 0.8805 - ], - "grasp_site_now_uv": [ - 176.5, - 244.1 - ], - "grasp_site_at_shut_xyz_m": [ - 0.554, - 0.3595, - 0.892 - ], - "grasp_site_at_shut_uv": [ - 160.0, - 241.3 - ], - "shut_in_top_view": true, - "close_onset_frame": 2, - "close_done_frame": 34, - "path_len_cm": 9.8, - "path_uv_every_3_frames": [ - [ - 167.8, - 248.6 - ], - [ - 163.3, - 251.5 - ], - [ - 158.3, - 256.9 - ], - [ - 155.2, - 256.4 - ], - [ - 153.3, - 257.8 - ], - [ - 153.7, - 256.5 - ], - [ - 155.1, - 254.5 - ], - [ - 156.2, - 253.0 - ], - [ - 158.7, - 248.4 - ], - [ - 161.2, - 246.3 - ], - [ - 162.2, - 244.1 - ], - [ - 160.3, - 240.5 - ], - [ - 160.0, - 241.3 - ], - [ - 160.0, - 241.3 - ], - [ - 160.0, - 241.3 - ], - [ - 160.0, - 241.3 - ], - [ - 160.0, - 241.3 - ], - [ - 160.0, - 241.3 - ], - [ - 160.0, - 241.3 - ], - 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By the time the jaws shut, the gripper site has moved -2.2 cm forward, -3.4 cm to the robot's left and +1.2 cm up from where it is now (path length 2.8 cm); in the top camera that is +27 px right and +11 px down. Gripper command: now 0.89 open; starts closing at +0.00 s and is shut (0.00) at +0.50 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.3582, - -0.1066, - 1.1408 - ], - "grasp_site_now_uv": [ - 396.9, - 271.3 - ], - "grasp_site_at_shut_xyz_m": [ - 0.336, - -0.1408, - 1.1526 - ], - "grasp_site_at_shut_uv": [ - 424.0, - 282.0 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 15, - "path_len_cm": 2.8, - "path_uv_every_3_frames": [ - [ - 408.4, - 278.1 - ], - [ - 413.2, - 282.5 - ], - [ - 416.0, - 283.3 - ], - [ - 419.1, - 284.0 - ], - [ - 421.6, - 283.6 - ], - [ - 424.0, - 282.0 - ], - [ - 424.0, - 282.0 - ], - [ - 424.0, - 282.0 - ], - [ - 424.0, - 282.0 - ], - [ - 424.0, - 282.0 - ], - [ - 424.0, - 282.0 - ], - [ - 424.0, - 282.0 - ], - [ - 424.0, - 282.0 - ], - [ - 424.0, - 282.0 - ], - [ - 424.0, - 282.0 - ], - [ - 424.0, - 282.0 - ], - [ - 424.0, - 282.0 - ], - [ - 424.0, - 282.0 - ], - [ - 424.0, - 282.0 - 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"plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +15.3 cm forward, +3.7 cm to the robot's left and -18.3 cm up from where it is now (path length 30.0 cm); in the top camera that is +8 px right and -2 px down. Gripper command: now 0.80 open; starts closing at +1.17 s and is shut (0.24) at +2.70 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5403, - 0.1671, - 1.1439 - ], - "grasp_site_now_uv": [ - 225.4, - 175.0 - ], - "grasp_site_at_shut_xyz_m": [ - 0.6935, - 0.2043, - 0.9605 - ], - "grasp_site_at_shut_uv": [ - 233.6, - 173.3 - ], - "shut_in_top_view": true, - "close_onset_frame": 35, - "close_done_frame": 81, - "path_len_cm": 30.0, - "path_uv_every_3_frames": [ - [ - 233.8, - 166.5 - ], - [ - 236.3, - 165.8 - ], - [ - 239.6, - 165.1 - ], - [ - 244.5, - 164.1 - ], - [ - 246.3, - 163.7 - ], - [ - 243.7, - 164.4 - ], - [ - 239.5, - 166.3 - ], - [ - 236.4, - 166.7 - ], - [ - 236.5, - 166.5 - ], - [ - 236.8, - 165.2 - ], - [ - 237.2, - 164.7 - ], - [ - 238.5, - 166.0 - ], - [ - 236.9, - 167.1 - ], - [ - 236.3, - 168.0 - ], - [ - 236.8, - 168.9 - ], - [ - 237.8, - 169.1 - ], - [ - 236.8, - 170.0 - ], - [ - 236.2, - 170.2 - ], - [ - 235.4, - 169.5 - 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By the time the jaws shut, the gripper site has moved +0.6 cm forward, -5.2 cm to the robot's left and -4.0 cm up from where it is now (path length 8.3 cm); in the top camera that is +25 px right and +8 px down. Gripper command: now 1.00 open; starts closing at +0.03 s and is shut (0.00) at +0.80 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.7534, - 0.3547, - 0.8307 - ], - "grasp_site_now_uv": [ - 182.2, - 183.5 - ], - "grasp_site_at_shut_xyz_m": [ - 0.759, - 0.3024, - 0.791 - ], - "grasp_site_at_shut_uv": [ - 206.8, - 191.0 - ], - "shut_in_top_view": true, - "close_onset_frame": 1, - "close_done_frame": 24, - "path_len_cm": 8.3, - "path_uv_every_3_frames": [ - [ - 185.0, - 185.8 - ], - [ - 190.5, - 187.8 - ], - [ - 191.1, - 185.4 - ], - [ - 195.2, - 182.9 - ], - [ - 197.1, - 183.0 - ], - [ - 203.5, - 187.4 - ], - [ - 204.8, - 188.4 - ], - [ - 206.5, - 191.4 - ], - [ - 206.8, - 191.0 - ], - [ - 206.8, - 191.0 - ], - [ - 206.8, - 191.0 - ], - [ - 206.8, - 191.0 - ], - [ - 206.8, - 191.0 - ], - [ - 206.8, - 191.0 - ], - [ - 206.8, - 191.0 - ], - [ - 206.8, - 191.0 - ], - [ - 206.8, - 191.0 - ], - [ - 206.8, - 191.0 - ], - [ - 206.8, - 191.0 - ], - 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By the time the jaws shut, the gripper site has moved -9.0 cm forward, -2.3 cm to the robot's left and -11.2 cm up from where it is now (path length 36.4 cm); in the top camera that is +7 px right and +55 px down. Gripper command: now 0.53 open; starts closing at +1.63 s and is shut (0.45) at +3.77 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.6299, - -0.108, - 0.9459 - ], - "grasp_site_now_uv": [ - 372.2, - 206.1 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5402, - -0.1313, - 0.8334 - ], - "grasp_site_at_shut_uv": [ - 379.1, - 261.4 - ], - "shut_in_top_view": true, - "close_onset_frame": 49, - "close_done_frame": 113, - "path_len_cm": 36.4, - "path_uv_every_3_frames": [ - [ - 371.0, - 202.6 - ], - [ - 369.8, - 200.7 - ], - [ - 367.8, - 199.5 - ], - [ - 364.8, - 198.4 - ], - [ - 361.8, - 198.2 - ], - [ - 357.4, - 199.0 - ], - [ - 356.0, - 199.6 - ], - [ - 361.5, - 200.3 - ], - [ - 368.1, - 200.5 - ], - [ - 374.1, - 201.1 - ], - [ - 378.7, - 202.9 - ], - [ - 382.6, - 206.4 - ], - [ - 385.9, - 211.3 - ], - [ - 390.0, - 217.3 - ], - [ - 392.3, - 224.2 - ], - [ - 392.8, - 233.0 - ], - [ - 391.1, - 241.1 - ], - [ - 390.1, - 248.3 - ], - [ - 390.3, - 254.1 - 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0.85535 - ], - [ - 0.36047, - 1.82093, - 1.29316, - -0.51083, - 0.15031, - -0.46174, - 0.02047, - 1.19805, - 0.23312, - 0.76852, - -0.50468, - 1.07225, - 0.29297, - 0.85535 - ], - [ - 0.36047, - 1.82093, - 1.29316, - -0.51083, - 0.15031, - -0.46174, - 0.02047, - 1.19805, - 0.23312, - 0.76852, - -0.50468, - 1.07225, - 0.29297, - 0.85535 - ], - [ - 0.36047, - 1.82093, - 1.29316, - -0.51083, - 0.15031, - -0.46174, - 0.02047, - 1.19805, - 0.23312, - 0.76852, - -0.50468, - 1.07225, - 0.29297, - 0.85535 - ] - ], - "state_t": [ - 0.32979, - 1.59056, - 1.28271, - -0.57393, - -0.09442, - -0.42248, - 0.99128, - 1.19421, - 0.24205, - 0.78565, - -0.53006, - 1.05993, - 0.30919, - 0.85506 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +2.7 cm forward, -2.0 cm to the robot's left and -8.4 cm up from where it is now (path length 10.5 cm); in the top camera that is +25 px right and +11 px down. Gripper command: now 0.98 open; starts closing at +0.00 s and is shut (0.02) at +0.87 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.6556, - 0.4649, - 0.9231 - ], - "grasp_site_now_uv": [ - 112.4, - 192.5 - ], - "grasp_site_at_shut_xyz_m": [ - 0.6826, - 0.4449, - 0.8396 - ], - "grasp_site_at_shut_uv": [ - 137.3, - 203.7 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 26, - "path_len_cm": 10.5, - "path_uv_every_3_frames": [ - [ - 113.1, - 188.6 - ], - [ - 117.3, - 190.5 - ], - [ - 120.9, - 192.4 - ], - [ - 123.3, - 197.9 - ], - [ - 127.4, - 199.3 - ], - [ - 129.9, - 201.9 - ], - [ - 132.6, - 204.8 - ], - [ - 136.2, - 205.9 - ], - [ - 137.9, - 204.8 - ], - [ - 137.3, - 203.7 - ], - [ - 137.3, - 203.7 - ], - [ - 137.3, - 203.7 - ], - [ - 137.3, - 203.7 - ], - [ - 137.3, - 203.7 - ], - [ - 137.3, - 203.7 - ], - [ - 137.3, - 203.7 - ], - [ - 137.3, - 203.7 - ], - [ - 137.3, - 203.7 - ], - [ - 137.3, - 203.7 - 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By the time the jaws shut, the gripper site has moved -12.0 cm forward, +26.6 cm to the robot's left and +2.6 cm up from where it is now (path length 42.1 cm); in the top camera that is -111 px right and +42 px down. Gripper command: now 0.84 open; starts closing at +1.00 s and is shut (0.54) at +2.47 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4875, - -0.0596, - 0.7809 - ], - "grasp_site_now_uv": [ - 346.9, - 281.9 - ], - "grasp_site_at_shut_xyz_m": [ - 0.3679, - 0.2062, - 0.8073 - ], - "grasp_site_at_shut_uv": [ - 235.9, - 324.0 - ], - "shut_in_top_view": true, - "close_onset_frame": 30, - "close_done_frame": 74, - "path_len_cm": 42.1, - "path_uv_every_3_frames": [ - [ - 343.2, - 263.6 - ], - [ - 342.4, - 258.5 - ], - [ - 340.9, - 254.4 - ], - [ - 338.7, - 252.3 - ], - [ - 337.2, - 252.2 - ], - [ - 335.9, - 252.6 - ], - [ - 334.4, - 252.6 - ], - [ - 332.6, - 253.4 - ], - [ - 327.9, - 255.3 - ], - [ - 318.8, - 259.8 - ], - [ - 307.2, - 265.1 - ], - [ - 294.0, - 269.7 - ], - [ - 281.8, - 272.8 - ], - [ - 272.2, - 276.1 - ], - [ - 264.4, - 280.5 - ], - [ - 258.7, - 285.8 - ], - [ - 253.3, - 291.9 - ], - [ - 248.5, - 297.2 - ], - [ - 244.5, - 302.4 - 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By the time the jaws shut, the gripper site has moved -1.6 cm forward, -1.4 cm to the robot's left and +1.8 cm up from where it is now (path length 2.2 cm); in the top camera that is +7 px right and +3 px down. Gripper command: now 0.61 open; starts closing at +0.00 s and is shut (0.08) at +1.03 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4329, - 0.0204, - 1.0208 - ], - "grasp_site_now_uv": [ - 305.6, - 262.4 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4165, - 0.006, - 1.0391 - ], - "grasp_site_at_shut_uv": [ - 312.8, - 265.8 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 31, - "path_len_cm": 2.2, - "path_uv_every_3_frames": [ - [ - 308.4, - 258.1 - ], - [ - 309.7, - 258.3 - ], - [ - 310.8, - 259.5 - ], - [ - 311.5, - 260.9 - ], - [ - 311.8, - 261.5 - ], - [ - 312.2, - 262.3 - ], - [ - 312.6, - 262.5 - ], - [ - 313.1, - 263.1 - ], - [ - 313.2, - 263.6 - ], - [ - 313.1, - 264.4 - ], - [ - 313.1, - 265.7 - ], - [ - 312.8, - 265.8 - ], - [ - 312.8, - 265.8 - ], - [ - 312.8, - 265.8 - ], - [ - 312.8, - 265.8 - ], - [ - 312.8, - 265.8 - ], - [ - 312.8, - 265.8 - ], - [ - 312.8, - 265.8 - ], - [ - 312.8, - 265.8 - ], - 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By the time the jaws shut, the gripper site has moved +2.8 cm forward, +0.3 cm to the robot's left and -0.9 cm up from where it is now (path length 3.3 cm); in the top camera that is -6 px right and -6 px down. Gripper command: now 0.59 open; starts closing at +0.07 s and is shut (0.01) at +1.03 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.514, - -0.098, - 1.4386 - ], - "grasp_site_now_uv": [ - 407.6, - 36.1 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5422, - -0.0955, - 1.4291 - ], - "grasp_site_at_shut_uv": [ - 401.4, - 29.7 - ], - "shut_in_top_view": true, - "close_onset_frame": 2, - "close_done_frame": 31, - "path_len_cm": 3.3, - "path_uv_every_3_frames": [ - [ - 407.0, - 35.8 - ], - [ - 404.9, - 35.2 - ], - [ - 401.2, - 34.9 - ], - [ - 397.4, - 35.1 - ], - [ - 396.7, - 34.3 - ], - [ - 397.3, - 32.5 - ], - [ - 399.7, - 29.6 - ], - [ - 400.6, - 28.5 - ], - [ - 400.8, - 28.6 - ], - [ - 401.3, - 29.1 - ], - [ - 400.9, - 29.8 - ], - [ - 401.4, - 29.7 - ], - [ - 401.4, - 29.7 - ], - [ - 401.4, - 29.7 - ], - [ - 401.4, - 29.7 - ], - [ - 401.4, - 29.7 - ], - [ - 401.4, - 29.7 - ], - [ - 401.4, - 29.7 - ], - [ - 401.4, - 29.7 - ], - [ - 401.4, - 29.7 - 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0.5967, - -0.05674, - 0.0721, - 0.38041, - 0.897 - ] - ], - "state_t": [ - 0.17071, - 0.58194, - 0.69448, - -0.54265, - -0.27905, - -0.42477, - 0.96076, - 0.51137, - 1.81754, - 0.96342, - 0.43812, - 0.17987, - 0.276, - 0.91785 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +11.1 cm forward, +4.3 cm to the robot's left and -11.0 cm up from where it is now (path length 26.8 cm); in the top camera that is +13 px right and -18 px down. Gripper command: now 0.96 open; starts closing at +0.00 s and is shut (0.02) at +1.33 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4928, - 0.3989, - 0.9972 - ], - "grasp_site_now_uv": [ - 110.1, - 238.9 - ], - "grasp_site_at_shut_xyz_m": [ - 0.6034, - 0.4422, - 0.8872 - ], - "grasp_site_at_shut_uv": [ - 123.4, - 220.7 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 40, - "path_len_cm": 26.8, - "path_uv_every_3_frames": [ - [ - 113.6, - 235.4 - ], - [ - 118.6, - 235.3 - ], - [ - 124.5, - 235.6 - ], - [ - 131.9, - 237.8 - ], - [ - 135.3, - 241.9 - ], - [ - 132.5, - 243.7 - ], - [ - 129.7, - 241.1 - ], - [ - 129.5, - 237.0 - ], - [ - 131.7, - 237.4 - ], - [ - 133.4, - 239.6 - ], - [ - 135.9, - 241.9 - ], - [ - 135.4, - 239.4 - ], - [ - 132.4, - 232.7 - ], - [ - 125.9, - 224.0 - ], - [ - 123.4, - 220.7 - ], - [ - 123.4, - 220.7 - ], - [ - 123.4, - 220.7 - ], - [ - 123.4, - 220.7 - ], - [ - 123.4, - 220.7 - 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] - ], - "state_t": [ - 0.39197, - 2.35161, - 1.7649, - -0.25196, - 0.55829, - -0.5602, - 0.71382, - 0.37861, - 1.73209, - 1.87209, - -0.91306, - 0.13905, - 0.33742, - 0.66533 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -1.1 cm forward, -3.6 cm to the robot's left and -0.8 cm up from where it is now (path length 8.4 cm); in the top camera that is +12 px right and +4 px down. Gripper command: now 0.71 open; starts closing at +0.07 s and is shut (0.02) at +1.07 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.8311, - 0.4517, - 0.8036 - ], - "grasp_site_now_uv": [ - 167.4, - 172.6 - ], - "grasp_site_at_shut_xyz_m": [ - 0.8204, - 0.4154, - 0.7957 - ], - "grasp_site_at_shut_uv": [ - 179.6, - 177.0 - ], - "shut_in_top_view": true, - "close_onset_frame": 2, - "close_done_frame": 32, - "path_len_cm": 8.4, - "path_uv_every_3_frames": [ - [ - 178.6, - 184.7 - ], - [ - 179.8, - 184.3 - ], - [ - 179.8, - 185.0 - ], - [ - 179.8, - 185.8 - ], - [ - 180.0, - 187.1 - ], - [ - 179.8, - 187.5 - ], - [ - 180.1, - 188.4 - ], - [ - 180.5, - 188.0 - ], - [ - 180.9, - 186.5 - ], - [ - 181.6, - 183.6 - ], - [ - 181.5, - 181.0 - ], - [ - 179.6, - 177.0 - ], - [ - 179.6, - 177.0 - ], - [ - 179.6, - 177.0 - ], - [ - 179.6, - 177.0 - ], - [ - 179.6, - 177.0 - ], - [ - 179.6, - 177.0 - ], - [ - 179.6, - 177.0 - ], - [ - 179.6, - 177.0 - ], - 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By the time the jaws shut, the gripper site has moved -10.2 cm forward, +2.5 cm to the robot's left and -13.8 cm up from where it is now (path length 10.2 cm); in the top camera that is -20 px right and +76 px down. Gripper command: now 1.00 open; starts closing at +0.00 s and is shut (0.62) at +0.30 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.6386, - -0.2424, - 1.0833 - ], - "grasp_site_now_uv": [ - 441.3, - 167.0 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5368, - -0.2176, - 0.9453 - ], - "grasp_site_at_shut_uv": [ - 421.6, - 242.5 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 9, - "path_len_cm": 10.2, - "path_uv_every_3_frames": [ - [ - 442.6, - 202.0 - ], - [ - 434.1, - 214.2 - ], - [ - 429.1, - 229.2 - ], - [ - 421.6, - 242.5 - ], - [ - 421.6, - 242.5 - ], - [ - 421.6, - 242.5 - ], - [ - 421.6, - 242.5 - ], - [ - 421.6, - 242.5 - ], - [ - 421.6, - 242.5 - ], - [ - 421.6, - 242.5 - ], - [ - 421.6, - 242.5 - ], - [ - 421.6, - 242.5 - ], - [ - 421.6, - 242.5 - ], - [ - 421.6, - 242.5 - ], - [ - 421.6, - 242.5 - ], - [ - 421.6, - 242.5 - ], - [ - 421.6, - 242.5 - ], - [ - 421.6, - 242.5 - ], - [ - 421.6, - 242.5 - 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-0.1615, - 1.09572, - 0.00705 - ], - [ - 0.08744, - 1.38221, - 0.46288, - 0.72015, - 0.53837, - -0.95741, - 0.00483, - 0.54375, - 1.69354, - 0.46073, - 1.40693, - -0.1615, - 1.09572, - 0.00705 - ] - ], - "state_t": [ - -0.21191, - 0.95998, - 0.57584, - 0.20123, - -0.1482, - -0.67617, - 0.83233, - 1.11524, - 1.18658, - 0.69104, - 0.45186, - 0.55562, - 0.35878, - 0.57325 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +10.3 cm forward, -6.0 cm to the robot's left and -7.9 cm up from where it is now (path length 19.1 cm); in the top camera that is +25 px right and -20 px down. Gripper command: now 0.60 open; starts closing at +1.47 s and is shut (0.01) at +2.73 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5017, - -0.0052, - 1.0355 - ], - "grasp_site_now_uv": [ - 321.6, - 225.8 - ], - "grasp_site_at_shut_xyz_m": [ - 0.6049, - -0.065, - 0.9567 - ], - "grasp_site_at_shut_uv": [ - 347.1, - 206.0 - ], - "shut_in_top_view": true, - "close_onset_frame": 44, - "close_done_frame": 82, - "path_len_cm": 19.1, - "path_uv_every_3_frames": [ - [ - 338.2, - 220.6 - ], - [ - 346.4, - 220.6 - ], - [ - 355.1, - 220.6 - ], - [ - 361.0, - 220.8 - ], - [ - 363.3, - 220.0 - ], - [ - 362.8, - 219.7 - ], - [ - 361.5, - 218.7 - ], - [ - 359.8, - 217.6 - ], - [ - 357.2, - 216.1 - ], - [ - 354.2, - 214.4 - ], - [ - 351.5, - 212.8 - ], - [ - 349.4, - 211.6 - ], - [ - 348.9, - 211.2 - ], - [ - 349.3, - 210.8 - ], - [ - 349.9, - 209.3 - ], - [ - 349.4, - 208.4 - ], - [ - 349.0, - 207.8 - ], - [ - 348.2, - 207.1 - ], - [ - 347.8, - 206.9 - 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By the time the jaws shut, the gripper site has moved +9.2 cm forward, -3.4 cm to the robot's left and -6.9 cm up from where it is now (path length 21.3 cm); in the top camera that is +28 px right and -1 px down. Gripper command: now 1.00 open; starts closing at +0.93 s and is shut (0.31) at +1.83 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.6314, - 0.0866, - 1.2827 - ], - "grasp_site_now_uv": [ - 266.2, - 65.6 - ], - "grasp_site_at_shut_xyz_m": [ - 0.7234, - 0.053, - 1.2138 - ], - "grasp_site_at_shut_uv": [ - 293.8, - 64.4 - ], - "shut_in_top_view": true, - "close_onset_frame": 28, - "close_done_frame": 55, - "path_len_cm": 21.3, - "path_uv_every_3_frames": [ - [ - 271.5, - 52.2 - ], - [ - 270.4, - 44.6 - ], - [ - 272.3, - 40.3 - ], - [ - 272.1, - 39.5 - ], - [ - 267.4, - 43.7 - ], - [ - 265.2, - 48.8 - ], - [ - 267.1, - 49.6 - ], - [ - 268.5, - 49.0 - ], - [ - 270.1, - 48.3 - ], - [ - 271.7, - 48.6 - ], - [ - 273.3, - 49.6 - ], - [ - 280.4, - 47.8 - ], - [ - 285.1, - 46.8 - ], - [ - 291.3, - 49.9 - ], - [ - 297.7, - 55.9 - ], - [ - 298.7, - 62.9 - ], - [ - 296.9, - 67.3 - ], - [ - 295.0, - 67.4 - ], - [ - 294.5, - 65.1 - ], - [ - 293.8, - 64.4 - 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By the time the jaws shut, the gripper site has moved -9.9 cm forward, -4.2 cm to the robot's left and +0.1 cm up from where it is now (path length 11.2 cm); in the top camera that is +23 px right and +48 px down. Gripper command: now 0.79 open; starts closing at +0.13 s and is shut (0.00) at +1.33 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4933, - 0.0325, - 0.9926 - ], - "grasp_site_now_uv": [ - 305.4, - 245.5 - ], - "grasp_site_at_shut_xyz_m": [ - 0.3941, - -0.0098, - 0.9941 - ], - "grasp_site_at_shut_uv": [ - 328.2, - 293.7 - ], - "shut_in_top_view": true, - "close_onset_frame": 4, - "close_done_frame": 40, - "path_len_cm": 11.2, - "path_uv_every_3_frames": [ - [ - 305.7, - 256.5 - ], - [ - 305.5, - 260.2 - ], - [ - 308.2, - 265.9 - ], - [ - 310.3, - 271.6 - ], - [ - 311.8, - 278.1 - ], - [ - 312.3, - 281.3 - ], - [ - 313.5, - 283.1 - ], - [ - 315.7, - 282.7 - ], - [ - 319.0, - 283.1 - ], - [ - 321.3, - 284.3 - ], - [ - 323.2, - 286.5 - ], - [ - 324.5, - 286.4 - ], - [ - 325.3, - 289.6 - ], - [ - 327.3, - 292.9 - ], - [ - 328.2, - 293.7 - ], - [ - 328.2, - 293.7 - ], - [ - 328.2, - 293.7 - ], - [ - 328.2, - 293.7 - ], - [ - 328.2, - 293.7 - 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By the time the jaws shut, the gripper site has moved -1.1 cm forward, -1.0 cm to the robot's left and +6.9 cm up from where it is now (path length 17.2 cm); in the top camera that is +0 px right and -10 px down. Gripper command: now 0.55 open; starts closing at +1.30 s and is shut (0.00) at +2.47 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5559, - 0.1343, - 0.801 - ], - "grasp_site_now_uv": [ - 269.6, - 262.8 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5452, - 0.1248, - 0.8699 - ], - "grasp_site_at_shut_uv": [ - 270.0, - 252.6 - ], - "shut_in_top_view": true, - "close_onset_frame": 39, - "close_done_frame": 74, - "path_len_cm": 17.2, - "path_uv_every_3_frames": [ - [ - 276.7, - 270.5 - ], - [ - 278.0, - 268.9 - ], - [ - 278.0, - 268.9 - ], - [ - 278.0, - 269.8 - ], - [ - 278.7, - 270.1 - ], - [ - 279.8, - 270.4 - ], - [ - 281.3, - 270.6 - ], - [ - 282.6, - 270.3 - ], - [ - 282.8, - 269.2 - ], - [ - 283.5, - 267.6 - ], - [ - 285.9, - 264.3 - ], - [ - 287.3, - 261.6 - ], - [ - 287.1, - 258.6 - ], - [ - 285.7, - 258.1 - ], - [ - 285.4, - 256.6 - ], - [ - 284.1, - 254.8 - ], - [ - 281.1, - 252.9 - ], - [ - 278.5, - 252.1 - ], - [ - 276.4, - 252.5 - 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By the time the jaws shut, the gripper site has moved +0.5 cm forward, +7.7 cm to the robot's left and -9.3 cm up from where it is now (path length 12.9 cm); in the top camera that is -46 px right and +29 px down. Gripper command: now 0.78 open; starts closing at +0.07 s and is shut (0.00) at +1.20 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5945, - -0.1739, - 1.1479 - ], - "grasp_site_now_uv": [ - 413.8, - 156.8 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5994, - -0.0968, - 1.0547 - ], - "grasp_site_at_shut_uv": [ - 367.9, - 185.5 - ], - "shut_in_top_view": true, - "close_onset_frame": 2, - "close_done_frame": 36, - "path_len_cm": 12.9, - "path_uv_every_3_frames": [ - [ - 395.1, - 160.7 - ], - [ - 390.9, - 160.9 - ], - [ - 389.3, - 162.6 - ], - [ - 387.4, - 167.5 - ], - [ - 384.6, - 171.2 - ], - [ - 381.3, - 175.4 - ], - [ - 379.4, - 178.0 - ], - [ - 379.2, - 179.8 - ], - [ - 379.4, - 180.4 - ], - [ - 376.6, - 182.1 - ], - [ - 373.1, - 183.4 - ], - [ - 370.3, - 184.1 - ], - [ - 367.9, - 185.5 - ], - [ - 367.9, - 185.5 - ], - [ - 367.9, - 185.5 - ], - [ - 367.9, - 185.5 - ], - [ - 367.9, - 185.5 - ], - [ - 367.9, - 185.5 - ], - [ - 367.9, - 185.5 - 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By the time the jaws shut, the gripper site has moved +3.7 cm forward, -7.0 cm to the robot's left and +3.9 cm up from where it is now (path length 26.0 cm); in the top camera that is +32 px right and -22 px down. Gripper command: now 1.00 open; starts closing at +0.00 s and is shut (0.24) at +2.00 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4163, - -0.0901, - 0.8572 - ], - "grasp_site_now_uv": [ - 365.5, - 303.2 - ], - "grasp_site_at_shut_xyz_m": [ - 0.453, - -0.1597, - 0.8966 - ], - "grasp_site_at_shut_uv": [ - 397.1, - 281.5 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 60, - "path_len_cm": 26.0, - "path_uv_every_3_frames": [ - [ - 373.7, - 295.2 - ], - [ - 375.0, - 294.4 - ], - [ - 367.4, - 295.1 - ], - [ - 359.5, - 293.0 - ], - [ - 360.8, - 292.2 - ], - [ - 353.6, - 292.3 - ], - [ - 356.1, - 293.4 - ], - [ - 358.9, - 294.6 - ], - [ - 359.2, - 295.4 - ], - [ - 360.7, - 297.5 - ], - [ - 361.3, - 298.9 - ], - [ - 361.8, - 300.2 - ], - [ - 361.3, - 300.9 - ], - [ - 360.8, - 300.9 - ], - [ - 361.1, - 300.6 - ], - [ - 363.4, - 299.3 - ], - [ - 367.9, - 298.4 - ], - [ - 371.4, - 297.4 - ], - [ - 378.0, - 295.5 - 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By the time the jaws shut, the gripper site has moved +0.2 cm forward, +5.6 cm to the robot's left and -9.0 cm up from where it is now (path length 18.9 cm); in the top camera that is -26 px right and +17 px down. Gripper command: now 0.64 open; starts closing at +1.50 s and is shut (0.25) at +3.17 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5709, - -0.1349, - 0.8811 - ], - "grasp_site_now_uv": [ - 382.3, - 238.4 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5726, - -0.0784, - 0.791 - ], - "grasp_site_at_shut_uv": [ - 356.7, - 255.1 - ], - "shut_in_top_view": true, - "close_onset_frame": 45, - "close_done_frame": 95, - "path_len_cm": 18.9, - "path_uv_every_3_frames": [ - [ - 375.4, - 237.9 - ], - [ - 369.6, - 238.3 - ], - [ - 365.3, - 240.0 - ], - [ - 360.9, - 238.9 - ], - [ - 358.5, - 238.6 - ], - [ - 357.4, - 239.2 - ], - [ - 357.5, - 240.2 - ], - [ - 358.7, - 241.1 - ], - [ - 360.5, - 242.4 - ], - [ - 361.5, - 243.6 - ], - [ - 362.2, - 245.1 - ], - [ - 362.8, - 245.9 - ], - [ - 362.3, - 247.2 - ], - [ - 362.7, - 247.6 - ], - [ - 363.1, - 247.1 - ], - [ - 362.2, - 248.5 - ], - [ - 359.6, - 251.4 - ], - [ - 357.4, - 253.9 - ], - [ - 355.1, - 255.3 - 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By the time the jaws shut, the gripper site has moved +0.9 cm forward, -9.5 cm to the robot's left and -2.8 cm up from where it is now (path length 12.3 cm); in the top camera that is +51 px right and +4 px down. Gripper command: now 0.98 open; starts closing at +0.23 s and is shut (0.00) at +1.67 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.511, - 0.0254, - 1.0448 - ], - "grasp_site_now_uv": [ - 296.0, - 220.7 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5199, - -0.0691, - 1.0173 - ], - "grasp_site_at_shut_uv": [ - 347.2, - 224.6 - ], - "shut_in_top_view": true, - "close_onset_frame": 7, - "close_done_frame": 50, - "path_len_cm": 12.3, - "path_uv_every_3_frames": [ - [ - 310.2, - 214.2 - ], - [ - 320.4, - 216.6 - ], - [ - 326.8, - 220.1 - ], - [ - 329.4, - 219.7 - ], - [ - 329.9, - 221.8 - ], - [ - 333.0, - 223.3 - ], - [ - 335.7, - 223.8 - ], - [ - 337.7, - 223.9 - ], - [ - 340.2, - 224.5 - ], - [ - 343.0, - 225.1 - ], - [ - 346.0, - 225.2 - ], - [ - 347.7, - 225.4 - ], - [ - 348.7, - 224.9 - ], - [ - 350.1, - 224.9 - ], - [ - 350.8, - 225.2 - ], - [ - 350.1, - 225.1 - ], - [ - 348.7, - 225.6 - ], - [ - 347.2, - 224.6 - ], - [ - 347.2, - 224.6 - 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0.26837, - 2.34779, - 1.88315, - 0.42058, - -0.57736, - 0.32826, - 0.99541 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -26.3 cm forward, -6.0 cm to the robot's left and -4.8 cm up from where it is now (path length 38.5 cm); in the top camera that is +27 px right and +94 px down. Gripper command: now 1.00 open; starts closing at +0.17 s and is shut (0.39) at +1.43 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.8713, - -0.0436, - 0.9866 - ], - "grasp_site_now_uv": [ - 338.5, - 119.3 - ], - "grasp_site_at_shut_xyz_m": [ - 0.6085, - -0.1035, - 0.9381 - ], - "grasp_site_at_shut_uv": [ - 365.5, - 213.3 - ], - "shut_in_top_view": true, - "close_onset_frame": 5, - "close_done_frame": 43, - "path_len_cm": 38.5, - "path_uv_every_3_frames": [ - [ - 348.9, - 94.6 - ], - [ - 357.9, - 97.4 - ], - [ - 366.0, - 107.0 - ], - [ - 371.7, - 121.7 - ], - [ - 375.3, - 141.7 - ], - [ - 378.0, - 159.6 - ], - [ - 380.4, - 175.2 - ], - [ - 379.3, - 190.0 - ], - [ - 375.4, - 201.4 - ], - [ - 369.6, - 207.3 - ], - [ - 361.0, - 210.8 - ], - [ - 356.4, - 212.9 - ], - [ - 357.1, - 215.0 - ], - [ - 361.9, - 213.2 - ], - [ - 365.0, - 212.7 - ], - [ - 365.5, - 213.3 - ], - [ - 365.5, - 213.3 - ], - [ - 365.5, - 213.3 - ], - [ - 365.5, - 213.3 - 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By the time the jaws shut, the gripper site has moved +4.0 cm forward, +6.1 cm to the robot's left and +3.5 cm up from where it is now (path length 13.6 cm); in the top camera that is -33 px right and -29 px down. Gripper command: now 1.00 open; starts closing at +0.00 s and is shut (0.00) at +1.00 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.564, - -0.0163, - 1.0436 - ], - "grasp_site_now_uv": [ - 331.6, - 194.7 - ], - "grasp_site_at_shut_xyz_m": [ - 0.604, - 0.0448, - 1.0789 - ], - "grasp_site_at_shut_uv": [ - 298.6, - 165.9 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 30, - "path_len_cm": 13.6, - "path_uv_every_3_frames": [ - [ - 307.6, - 199.9 - ], - [ - 299.3, - 197.9 - ], - [ - 292.9, - 196.8 - ], - [ - 291.5, - 190.4 - ], - [ - 294.2, - 184.0 - ], - [ - 293.8, - 178.9 - ], - [ - 293.7, - 174.2 - ], - [ - 292.4, - 173.7 - ], - [ - 288.4, - 173.9 - ], - [ - 288.1, - 171.5 - ], - [ - 298.6, - 165.9 - ], - [ - 298.6, - 165.9 - ], - [ - 298.6, - 165.9 - ], - [ - 298.6, - 165.9 - ], - [ - 298.6, - 165.9 - ], - [ - 298.6, - 165.9 - ], - [ - 298.6, - 165.9 - ], - [ - 298.6, - 165.9 - ], - [ - 298.6, - 165.9 - ], - 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By the time the jaws shut, the gripper site has moved -22.2 cm forward, -26.7 cm to the robot's left and +8.5 cm up from where it is now (path length 38.5 cm); in the top camera that is +131 px right and +65 px down. Gripper command: now 0.98 open; starts closing at +1.93 s and is shut (0.13) at +2.47 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.7084, - 0.2826, - 1.069 - ], - "grasp_site_now_uv": [ - 181.3, - 128.7 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4866, - 0.0159, - 1.1541 - ], - "grasp_site_at_shut_uv": [ - 312.7, - 193.4 - ], - "shut_in_top_view": true, - "close_onset_frame": 58, - "close_done_frame": 74, - "path_len_cm": 38.5, - "path_uv_every_3_frames": [ - [ - 197.5, - 135.4 - ], - [ - 207.9, - 146.6 - ], - [ - 210.4, - 154.3 - ], - [ - 217.2, - 160.1 - ], - [ - 217.6, - 163.6 - ], - [ - 219.6, - 167.6 - ], - [ - 222.3, - 170.5 - ], - [ - 225.0, - 173.8 - ], - [ - 227.0, - 175.7 - ], - [ - 227.6, - 176.9 - ], - [ - 228.0, - 177.4 - ], - [ - 227.9, - 177.1 - ], - [ - 228.2, - 177.3 - ], - [ - 228.6, - 175.4 - ], - [ - 230.5, - 173.2 - ], - [ - 234.2, - 173.0 - ], - [ - 236.0, - 172.8 - ], - [ - 242.8, - 177.7 - ], - [ - 252.3, - 185.4 - 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By the time the jaws shut, the gripper site has moved +16.3 cm forward, +10.1 cm to the robot's left and +19.2 cm up from where it is now (path length 35.8 cm); in the top camera that is -76 px right and -150 px down. Gripper command: now 1.00 open; starts closing at +1.47 s and is shut (0.42) at +2.80 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5429, - 0.2364, - 1.065 - ], - "grasp_site_now_uv": [ - 185.3, - 199.6 - ], - "grasp_site_at_shut_xyz_m": [ - 0.7055, - 0.337, - 1.2571 - ], - "grasp_site_at_shut_uv": [ - 109.4, - 50.0 - ], - "shut_in_top_view": true, - "close_onset_frame": 44, - "close_done_frame": 84, - "path_len_cm": 35.8, - "path_uv_every_3_frames": [ - [ - 172.7, - 194.0 - ], - [ - 166.2, - 190.3 - ], - [ - 162.9, - 185.3 - ], - [ - 157.1, - 178.6 - ], - [ - 155.3, - 171.9 - ], - [ - 153.1, - 165.8 - ], - [ - 149.1, - 161.9 - ], - [ - 142.0, - 157.7 - ], - [ - 134.5, - 152.4 - ], - [ - 129.8, - 144.6 - ], - [ - 123.4, - 135.5 - ], - [ - 118.1, - 128.0 - ], - [ - 113.1, - 118.7 - ], - [ - 109.8, - 109.7 - ], - [ - 109.5, - 99.5 - ], - [ - 109.8, - 90.5 - ], - [ - 105.6, - 77.8 - ], - [ - 102.8, - 66.1 - ], - [ - 103.1, - 56.0 - ], - [ - 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0.54907, - 1.66581, - 1.94913, - -0.73436, - -0.47988, - -0.26751, - 0.0 - ] - ], - "state_t": [ - -0.20428, - 1.4353, - 1.16064, - -0.5808, - 0.33055, - 0.41333, - 0.87445, - 0.0391, - 1.15911, - 0.60063, - -0.82952, - -0.31491, - -0.96571, - 0.43003 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +0.1 cm forward, -3.1 cm to the robot's left and -6.1 cm up from where it is now (path length 19.4 cm); in the top camera that is +16 px right and +14 px down. Gripper command: now 0.92 open; starts closing at +0.27 s and is shut (0.18) at +1.80 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.6236, - 0.1768, - 0.9396 - ], - "grasp_site_now_uv": [ - 236.6, - 206.7 - ], - "grasp_site_at_shut_xyz_m": [ - 0.6245, - 0.1459, - 0.8791 - ], - "grasp_site_at_shut_uv": [ - 252.8, - 220.3 - ], - "shut_in_top_view": true, - "close_onset_frame": 8, - "close_done_frame": 54, - "path_len_cm": 19.4, - "path_uv_every_3_frames": [ - [ - 230.2, - 192.0 - ], - [ - 229.2, - 187.8 - ], - [ - 227.7, - 186.9 - ], - [ - 226.0, - 189.5 - ], - [ - 226.0, - 193.2 - ], - [ - 225.9, - 197.8 - ], - [ - 224.8, - 201.7 - ], - [ - 225.7, - 211.0 - ], - [ - 226.7, - 213.4 - ], - [ - 229.4, - 218.1 - ], - [ - 232.4, - 221.4 - ], - [ - 235.4, - 224.0 - ], - [ - 237.5, - 225.9 - ], - [ - 239.2, - 227.2 - ], - [ - 241.8, - 226.7 - ], - [ - 244.6, - 225.6 - ], - [ - 247.6, - 223.7 - ], - [ - 250.4, - 222.4 - ], - [ - 252.8, - 220.3 - 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0.05443 - ], - [ - -0.94762, - 1.83008, - 0.98817, - 0.07938, - 0.03735, - 0.14925, - 0.3502, - 0.34648, - 1.7518, - 0.99479, - -0.48647, - -0.58316, - 1.03851, - 0.05443 - ], - [ - -0.94762, - 1.83008, - 0.98817, - 0.07938, - 0.03735, - 0.14925, - 0.3502, - 0.34648, - 1.7518, - 0.99479, - -0.48647, - -0.58316, - 1.03851, - 0.05443 - ] - ], - "state_t": [ - -0.86805, - 1.80877, - 0.86805, - 0.25578, - -0.00782, - 0.04139, - 0.17962, - 0.33665, - 1.70691, - 0.97524, - -0.29393, - -0.62161, - 1.09426, - 0.56462 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -3.0 cm forward, -1.3 cm to the robot's left and -3.0 cm up from where it is now (path length 19.8 cm); in the top camera that is +4 px right and +16 px down. Gripper command: now 0.61 open; starts closing at +1.03 s and is shut (0.05) at +2.77 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5863, - -0.0883, - 0.8251 - ], - "grasp_site_now_uv": [ - 358.2, - 244.9 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5558, - -0.101, - 0.7946 - ], - "grasp_site_at_shut_uv": [ - 362.7, - 260.8 - ], - "shut_in_top_view": true, - "close_onset_frame": 31, - "close_done_frame": 83, - "path_len_cm": 19.8, - "path_uv_every_3_frames": [ - [ - 367.9, - 234.1 - ], - [ - 375.2, - 231.2 - ], - [ - 381.0, - 231.8 - ], - [ - 384.4, - 233.9 - ], - [ - 385.9, - 236.1 - ], - [ - 387.1, - 237.9 - ], - [ - 388.9, - 238.9 - ], - [ - 391.0, - 239.5 - ], - [ - 392.8, - 240.2 - ], - [ - 391.7, - 242.9 - ], - [ - 388.7, - 246.7 - ], - [ - 383.6, - 250.0 - ], - [ - 377.9, - 253.1 - ], - [ - 373.3, - 254.6 - ], - [ - 370.0, - 255.4 - ], - [ - 368.1, - 255.5 - ], - [ - 367.0, - 255.5 - ], - [ - 365.9, - 257.7 - ], - [ - 365.0, - 260.8 - 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By the time the jaws shut, the gripper site has moved +3.8 cm forward, +16.8 cm to the robot's left and +2.5 cm up from where it is now (path length 44.4 cm); in the top camera that is -53 px right and -14 px down. Gripper command: now 0.57 open; starts closing at +0.23 s and is shut (0.00) at +3.07 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5498, - -0.088, - 0.9142 - ], - "grasp_site_now_uv": [ - 347.6, - 240.2 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5874, - 0.0796, - 0.9388 - ], - "grasp_site_at_shut_uv": [ - 295.0, - 226.1 - ], - "shut_in_top_view": true, - "close_onset_frame": 7, - "close_done_frame": 92, - "path_len_cm": 44.4, - "path_uv_every_3_frames": [ - [ - 350.9, - 226.9 - ], - [ - 353.4, - 218.6 - ], - [ - 350.1, - 212.7 - ], - [ - 344.6, - 213.8 - ], - [ - 337.6, - 220.7 - ], - [ - 335.5, - 226.7 - ], - [ - 334.5, - 234.0 - ], - [ - 333.6, - 238.4 - ], - [ - 331.6, - 243.4 - ], - [ - 330.6, - 246.3 - ], - [ - 329.0, - 251.7 - ], - [ - 328.3, - 254.5 - ], - [ - 327.1, - 256.2 - ], - [ - 326.7, - 257.6 - ], - [ - 327.0, - 258.1 - ], - [ - 326.3, - 256.6 - ], - [ - 325.8, - 255.1 - ], - [ - 323.5, - 247.9 - ], - [ - 322.3, - 244.3 - 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By the time the jaws shut, the gripper site has moved +6.1 cm forward, +7.1 cm to the robot's left and -2.3 cm up from where it is now (path length 17.6 cm); in the top camera that is -41 px right and -20 px down. Gripper command: now 1.00 open; starts closing at +1.73 s and is shut (0.01) at +2.67 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5214, - -0.2804, - 0.9525 - ], - "grasp_site_now_uv": [ - 462.4, - 238.9 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5828, - -0.2089, - 0.9299 - ], - "grasp_site_at_shut_uv": [ - 421.4, - 219.2 - ], - "shut_in_top_view": true, - "close_onset_frame": 52, - "close_done_frame": 80, - "path_len_cm": 17.6, - "path_uv_every_3_frames": [ - [ - 466.7, - 235.3 - ], - [ - 466.9, - 235.1 - ], - [ - 467.3, - 234.9 - ], - [ - 467.1, - 234.9 - ], - [ - 466.9, - 235.4 - ], - [ - 464.6, - 235.4 - ], - [ - 461.5, - 235.1 - ], - [ - 458.0, - 234.9 - ], - [ - 453.6, - 235.5 - ], - [ - 451.2, - 236.0 - ], - [ - 449.0, - 234.5 - ], - [ - 446.4, - 233.6 - ], - [ - 445.7, - 233.4 - ], - [ - 445.2, - 232.3 - ], - [ - 444.1, - 231.6 - ], - [ - 442.7, - 230.6 - ], - [ - 440.2, - 230.1 - ], - [ - 436.4, - 230.4 - ], - [ - 433.9, - 230.0 - 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By the time the jaws shut, the gripper site has moved +12.1 cm forward, -0.8 cm to the robot's left and +5.5 cm up from where it is now (path length 16.3 cm); in the top camera that is +5 px right and -84 px down. Gripper command: now 0.95 open; starts closing at +1.57 s and is shut (0.01) at +2.17 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5281, - -0.0029, - 1.2081 - ], - "grasp_site_now_uv": [ - 321.8, - 148.9 - ], - "grasp_site_at_shut_xyz_m": [ - 0.6491, - -0.0113, - 1.263 - ], - "grasp_site_at_shut_uv": [ - 327.3, - 65.2 - ], - "shut_in_top_view": true, - "close_onset_frame": 47, - "close_done_frame": 65, - "path_len_cm": 16.3, - "path_uv_every_3_frames": [ - [ - 322.4, - 125.2 - ], - [ - 314.8, - 112.9 - ], - [ - 306.3, - 105.9 - ], - [ - 306.0, - 101.2 - ], - [ - 306.9, - 96.2 - ], - [ - 311.7, - 92.2 - ], - [ - 316.5, - 90.2 - ], - [ - 319.7, - 86.6 - ], - [ - 320.1, - 83.5 - ], - [ - 317.8, - 81.8 - ], - [ - 315.2, - 80.7 - ], - [ - 312.8, - 78.6 - ], - [ - 313.8, - 75.7 - ], - [ - 315.2, - 73.9 - ], - [ - 316.4, - 72.2 - ], - [ - 318.4, - 69.8 - ], - [ - 321.7, - 66.9 - ], - [ - 323.5, - 64.7 - ], - [ - 325.3, - 63.8 - ], - [ - 327.1, - 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By the time the jaws shut, the gripper site has moved -1.1 cm forward, +16.6 cm to the robot's left and -13.5 cm up from where it is now (path length 34.2 cm); in the top camera that is -94 px right and +38 px down. Gripper command: now 0.68 open; starts closing at +1.73 s and is shut (0.00) at +2.80 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.559, - -0.3538, - 0.9931 - ], - "grasp_site_now_uv": [ - 603.5, - 213.4 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5476, - -0.1882, - 0.8579 - ], - "grasp_site_at_shut_uv": [ - 509.8, - 251.0 - ], - "shut_in_top_view": true, - "close_onset_frame": 52, - "close_done_frame": 84, - "path_len_cm": 34.2, - "path_uv_every_3_frames": [ - [ - 606.5, - 212.5 - ], - [ - 605.6, - 213.1 - ], - [ - 606.0, - 214.2 - ], - [ - 605.4, - 216.0 - ], - [ - 605.2, - 217.1 - ], - [ - 605.4, - 219.3 - ], - [ - 605.5, - 221.7 - ], - [ - 605.8, - 222.3 - ], - [ - 606.0, - 222.5 - ], - [ - 605.1, - 223.0 - ], - [ - 604.0, - 223.5 - ], - [ - 600.0, - 224.5 - ], - [ - 587.0, - 228.8 - ], - [ - 573.2, - 228.2 - ], - [ - 554.9, - 231.2 - ], - [ - 540.1, - 234.4 - ], - [ - 531.1, - 235.4 - ], - [ - 525.7, - 232.6 - ], - [ - 521.6, - 230.3 - 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By the time the jaws shut, the gripper site has moved +0.2 cm forward, +6.0 cm to the robot's left and -7.3 cm up from where it is now (path length 24.9 cm); in the top camera that is -26 px right and +12 px down. Gripper command: now 0.79 open; starts closing at +1.43 s and is shut (0.24) at +2.13 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4247, - 0.0396, - 0.8919 - ], - "grasp_site_now_uv": [ - 303.2, - 295.5 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4269, - 0.0996, - 0.8186 - ], - "grasp_site_at_shut_uv": [ - 276.8, - 307.6 - ], - "shut_in_top_view": true, - "close_onset_frame": 43, - "close_done_frame": 64, - "path_len_cm": 24.9, - "path_uv_every_3_frames": [ - [ - 301.5, - 295.3 - ], - [ - 293.6, - 290.8 - ], - [ - 284.7, - 284.6 - ], - [ - 277.0, - 282.2 - ], - [ - 272.4, - 282.8 - ], - [ - 269.4, - 286.2 - ], - [ - 273.1, - 288.2 - ], - [ - 284.5, - 286.8 - ], - [ - 291.9, - 288.4 - ], - [ - 292.6, - 289.8 - ], - [ - 291.8, - 288.7 - ], - [ - 290.6, - 286.9 - ], - [ - 288.5, - 287.3 - ], - [ - 287.1, - 289.1 - ], - [ - 287.6, - 290.9 - ], - [ - 286.0, - 291.9 - ], - [ - 283.7, - 293.9 - ], - [ - 282.5, - 296.2 - ], - [ - 280.3, - 298.1 - 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"plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -0.7 cm forward, -3.2 cm to the robot's left and +4.8 cm up from where it is now (path length 3.7 cm); in the top camera that is +7 px right and -12 px down. Gripper command: now 0.99 open; starts closing at +0.03 s and is shut (0.00) at +0.60 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.6138, - 0.3549, - 0.9762 - ], - "grasp_site_now_uv": [ - 254.9, - 198.2 - ], - "grasp_site_at_shut_xyz_m": [ - 0.6071, - 0.3234, - 1.0245 - ], - "grasp_site_at_shut_uv": [ - 261.8, - 186.5 - ], - "shut_in_top_view": true, - "close_onset_frame": 1, - "close_done_frame": 18, - "path_len_cm": 3.7, - "path_uv_every_3_frames": [ - [ - 256.9, - 191.0 - ], - [ - 257.6, - 189.1 - ], - [ - 257.7, - 188.3 - ], - [ - 258.8, - 186.9 - ], - [ - 260.0, - 186.6 - ], - [ - 261.5, - 186.6 - ], - [ - 261.8, - 186.5 - ], - [ - 261.8, - 186.5 - ], - [ - 261.8, - 186.5 - ], - [ - 261.8, - 186.5 - ], - [ - 261.8, - 186.5 - ], - [ - 261.8, - 186.5 - ], - [ - 261.8, - 186.5 - ], - [ - 261.8, - 186.5 - ], - [ - 261.8, - 186.5 - ], - [ - 261.8, - 186.5 - ], - [ - 261.8, - 186.5 - ], - [ - 261.8, - 186.5 - ], - [ - 261.8, - 186.5 - ], - 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"plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +2.3 cm forward, -0.9 cm to the robot's left and -2.5 cm up from where it is now (path length 5.7 cm); in the top camera that is +7 px right and +0 px down. Gripper command: now 0.78 open; starts closing at +0.13 s and is shut (0.39) at +0.70 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.6849, - 0.1398, - 1.0705 - ], - "grasp_site_now_uv": [ - 251.2, - 140.7 - ], - "grasp_site_at_shut_xyz_m": [ - 0.7078, - 0.1307, - 1.0459 - ], - "grasp_site_at_shut_uv": [ - 258.3, - 140.8 - ], - "shut_in_top_view": true, - "close_onset_frame": 4, - "close_done_frame": 21, - "path_len_cm": 5.7, - "path_uv_every_3_frames": [ - [ - 262.5, - 133.0 - ], - [ - 262.9, - 135.5 - ], - [ - 260.8, - 135.9 - ], - [ - 259.2, - 138.0 - ], - [ - 259.4, - 139.2 - ], - [ - 258.9, - 138.5 - ], - [ - 258.2, - 139.8 - ], - [ - 258.3, - 140.8 - ], - [ - 258.3, - 140.8 - ], - [ - 258.3, - 140.8 - ], - [ - 258.3, - 140.8 - ], - [ - 258.3, - 140.8 - ], - [ - 258.3, - 140.8 - ], - [ - 258.3, - 140.8 - ], - [ - 258.3, - 140.8 - ], - [ - 258.3, - 140.8 - ], - [ - 258.3, - 140.8 - ], - [ - 258.3, - 140.8 - ], - [ - 258.3, - 140.8 - ], - 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0.45259, - 0.50001, - -0.16733, - -0.49393, - 0.65592, - -0.05676, - 2.33929, - 1.9389, - -0.68261, - 0.14265, - 0.158, - 0.29244 - ], - [ - -0.76546, - 1.08606, - 0.45259, - 0.50001, - -0.16733, - -0.49393, - 0.65592, - -0.05676, - 2.33929, - 1.9389, - -0.68261, - 0.14265, - 0.158, - 0.29244 - ], - [ - -0.76546, - 1.08606, - 0.45259, - 0.50001, - -0.16733, - -0.49393, - 0.65592, - -0.05676, - 2.33929, - 1.9389, - -0.68261, - 0.14265, - 0.158, - 0.29244 - ] - ], - "state_t": [ - -0.53502, - 1.41432, - 1.04696, - -0.20275, - -0.09518, - -0.47055, - 0.6772, - 0.6117, - 1.01263, - 0.68227, - -0.17681, - 0.1627, - 0.44957, - 0.72345 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -9.5 cm forward, -2.8 cm to the robot's left and +0.7 cm up from where it is now (path length 21.0 cm); in the top camera that is +11 px right and +36 px down. Gripper command: now 0.66 open; starts closing at +1.87 s and is shut (0.59) at +2.90 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.6339, - 0.1027, - 0.9615 - ], - "grasp_site_now_uv": [ - 377.3, - 192.1 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5385, - 0.0744, - 0.9688 - ], - "grasp_site_at_shut_uv": [ - 388.3, - 228.5 - ], - "shut_in_top_view": true, - "close_onset_frame": 56, - "close_done_frame": 87, - "path_len_cm": 21.0, - "path_uv_every_3_frames": [ - [ - 408.3, - 196.7 - ], - [ - 418.7, - 209.2 - ], - [ - 420.5, - 215.8 - ], - [ - 416.7, - 224.1 - ], - [ - 416.4, - 228.6 - ], - [ - 409.5, - 230.3 - ], - [ - 406.0, - 230.6 - ], - [ - 403.5, - 228.2 - ], - [ - 394.8, - 227.0 - ], - [ - 390.3, - 226.7 - ], - [ - 390.8, - 227.3 - ], - [ - 391.5, - 228.2 - ], - [ - 389.9, - 227.7 - ], - [ - 388.7, - 227.4 - ], - [ - 387.2, - 227.7 - ], - [ - 384.2, - 226.9 - ], - [ - 384.0, - 226.7 - ], - [ - 384.7, - 226.8 - ], - [ - 384.9, - 226.8 - 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By the time the jaws shut, the gripper site has moved +2.3 cm forward, -2.3 cm to the robot's left and +2.1 cm up from where it is now (path length 5.0 cm); in the top camera that is +17 px right and -22 px down. Gripper command: now 0.81 open; starts closing at +0.27 s and is shut (0.21) at +0.90 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.412, - -0.0695, - 1.196 - ], - "grasp_site_now_uv": [ - 372.9, - 219.2 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4345, - -0.0925, - 1.2171 - ], - "grasp_site_at_shut_uv": [ - 390.1, - 197.2 - ], - "shut_in_top_view": true, - "close_onset_frame": 8, - "close_done_frame": 27, - "path_len_cm": 5.0, - "path_uv_every_3_frames": [ - [ - 379.5, - 211.7 - ], - [ - 381.5, - 207.6 - ], - [ - 383.2, - 203.6 - ], - [ - 384.0, - 199.2 - ], - [ - 388.4, - 196.8 - ], - [ - 390.9, - 195.2 - ], - [ - 390.5, - 194.7 - ], - [ - 390.9, - 195.4 - ], - [ - 390.8, - 196.4 - ], - [ - 390.1, - 197.2 - ], - [ - 390.1, - 197.2 - ], - [ - 390.1, - 197.2 - ], - [ - 390.1, - 197.2 - ], - [ - 390.1, - 197.2 - ], - [ - 390.1, - 197.2 - ], - [ - 390.1, - 197.2 - ], - [ - 390.1, - 197.2 - ], - [ - 390.1, - 197.2 - ], - [ - 390.1, - 197.2 - ], - 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0.05213, - 0.0736, - 0.31409, - 1.19956, - 0.26998, - 0.75012, - -0.51082, - 1.19347, - 0.26846, - 0.86413 - ], - [ - -0.61973, - 1.90678, - 1.25018, - 0.14726, - 0.05213, - 0.0736, - 0.31409, - 1.19956, - 0.26998, - 0.75012, - -0.51082, - 1.19347, - 0.26846, - 0.86413 - ] - ], - "state_t": [ - -0.61742, - 1.80877, - 1.13966, - -0.04101, - -0.05665, - -0.0948, - 0.99303, - 1.19421, - 0.23175, - 0.75742, - -0.53006, - 1.16751, - 0.29049, - 0.85856 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +3.3 cm forward, -4.7 cm to the robot's left and +3.6 cm up from where it is now (path length 8.4 cm); in the top camera that is +20 px right and -20 px down. Gripper command: now 0.99 open; starts closing at +0.13 s and is shut (0.31) at +0.97 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.6629, - 0.0304, - 0.8568 - ], - "grasp_site_now_uv": [ - 307.0, - 206.2 - ], - "grasp_site_at_shut_xyz_m": [ - 0.6955, - -0.017, - 0.8923 - ], - "grasp_site_at_shut_uv": [ - 327.2, - 186.0 - ], - "shut_in_top_view": true, - "close_onset_frame": 4, - "close_done_frame": 29, - "path_len_cm": 8.4, - "path_uv_every_3_frames": [ - [ - 316.0, - 192.8 - ], - [ - 320.9, - 192.9 - ], - [ - 323.6, - 192.9 - ], - [ - 327.3, - 190.7 - ], - [ - 329.5, - 190.7 - ], - [ - 331.1, - 192.1 - ], - [ - 332.4, - 192.9 - ], - [ - 331.9, - 193.1 - ], - [ - 329.3, - 190.5 - ], - [ - 327.3, - 187.5 - ], - [ - 327.2, - 186.0 - ], - [ - 327.2, - 186.0 - ], - [ - 327.2, - 186.0 - ], - [ - 327.2, - 186.0 - ], - [ - 327.2, - 186.0 - ], - [ - 327.2, - 186.0 - ], - [ - 327.2, - 186.0 - ], - [ - 327.2, - 186.0 - ], - [ - 327.2, - 186.0 - ], - 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By the time the jaws shut, the gripper site has moved -3.8 cm forward, +2.0 cm to the robot's left and -3.7 cm up from where it is now (path length 8.4 cm); in the top camera that is -6 px right and +21 px down. Gripper command: now 0.78 open; starts closing at +0.23 s and is shut (0.11) at +1.23 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5354, - 0.422, - 0.7811 - ], - "grasp_site_now_uv": [ - 132.0, - 272.4 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4975, - 0.4418, - 0.744 - ], - "grasp_site_at_shut_uv": [ - 126.1, - 293.4 - ], - "shut_in_top_view": true, - "close_onset_frame": 7, - "close_done_frame": 37, - "path_len_cm": 8.4, - "path_uv_every_3_frames": [ - [ - 129.1, - 268.4 - ], - [ - 130.3, - 269.9 - ], - [ - 132.1, - 273.8 - ], - [ - 133.4, - 277.4 - ], - [ - 134.3, - 280.1 - ], - [ - 135.0, - 281.8 - ], - [ - 134.6, - 282.9 - ], - [ - 134.0, - 285.8 - ], - [ - 133.7, - 288.7 - ], - [ - 130.7, - 291.4 - ], - [ - 129.0, - 291.3 - ], - [ - 126.5, - 292.5 - ], - [ - 126.1, - 293.2 - ], - [ - 126.1, - 293.4 - ], - [ - 126.1, - 293.4 - ], - [ - 126.1, - 293.4 - ], - [ - 126.1, - 293.4 - ], - [ - 126.1, - 293.4 - ], - [ - 126.1, - 293.4 - ], - 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1.30235, - 0.0 - ], - [ - -0.23777, - 2.17672, - 1.98957, - 0.04909, - 0.75932, - 0.72557, - 0.30184, - 0.22703, - 2.18899, - 1.96667, - -0.14419, - -0.31447, - 1.30235, - 0.0 - ] - ], - "state_t": [ - -0.25082, - 2.29171, - 2.08343, - -0.03681, - 0.66777, - 0.5869, - 0.36057, - 0.29812, - 2.12997, - 1.83738, - 0.14782, - -0.10433, - 0.20886, - 0.62936 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -0.2 cm forward, -1.2 cm to the robot's left and -4.0 cm up from where it is now (path length 29.6 cm); in the top camera that is +4 px right and +14 px down. Gripper command: now 0.62 open; starts closing at +1.20 s and is shut (0.00) at +2.20 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.871, - -0.1014, - 1.0395 - ], - "grasp_site_now_uv": [ - 470.6, - 86.6 - ], - "grasp_site_at_shut_xyz_m": [ - 0.8693, - -0.1135, - 0.9992 - ], - "grasp_site_at_shut_uv": [ - 474.3, - 101.0 - ], - "shut_in_top_view": true, - "close_onset_frame": 36, - "close_done_frame": 66, - "path_len_cm": 29.6, - "path_uv_every_3_frames": [ - [ - 469.9, - 97.8 - ], - [ - 474.6, - 89.9 - ], - [ - 478.1, - 77.7 - ], - [ - 480.1, - 68.3 - ], - [ - 485.2, - 63.2 - ], - [ - 490.5, - 72.8 - ], - [ - 489.0, - 82.9 - ], - [ - 490.3, - 89.7 - ], - [ - 486.8, - 95.3 - ], - [ - 484.5, - 97.9 - ], - [ - 483.5, - 98.5 - ], - [ - 482.5, - 98.8 - ], - [ - 480.8, - 100.3 - ], - [ - 480.7, - 102.1 - ], - [ - 479.0, - 100.6 - ], - [ - 480.1, - 99.4 - ], - [ - 479.3, - 103.3 - ], - [ - 479.6, - 100.4 - ], - [ - 478.5, - 99.3 - ], - [ - 477.8, - 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1.28614, - 0.87415, - 0.1524, - 0.66129, - 0.08907, - 0.81405, - 0.56706, - 0.91154, - 1.00233, - -0.56363, - -0.40684, - -0.05245, - 0.16268 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +0.1 cm forward, -2.3 cm to the robot's left and +0.2 cm up from where it is now (path length 5.6 cm); in the top camera that is +13 px right and -1 px down. Gripper command: now 0.82 open; starts closing at +0.10 s and is shut (0.00) at +1.17 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4766, - -0.0323, - 1.0208 - ], - "grasp_site_now_uv": [ - 344.7, - 245.6 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4777, - -0.0556, - 1.0225 - ], - "grasp_site_at_shut_uv": [ - 357.6, - 244.7 - ], - "shut_in_top_view": true, - "close_onset_frame": 3, - "close_done_frame": 35, - "path_len_cm": 5.6, - "path_uv_every_3_frames": [ - [ - 350.2, - 245.0 - ], - [ - 352.6, - 246.1 - ], - [ - 354.9, - 248.6 - ], - [ - 356.9, - 250.4 - ], - [ - 358.6, - 251.7 - ], - [ - 359.6, - 251.5 - ], - [ - 360.1, - 252.3 - ], - [ - 359.9, - 252.3 - ], - [ - 359.9, - 252.2 - ], - [ - 359.4, - 251.3 - ], - [ - 358.5, - 248.7 - ], - [ - 357.3, - 245.7 - ], - [ - 357.6, - 244.7 - ], - [ - 357.6, - 244.7 - ], - [ - 357.6, - 244.7 - ], - [ - 357.6, - 244.7 - ], - [ - 357.6, - 244.7 - ], - [ - 357.6, - 244.7 - ], - [ - 357.6, - 244.7 - 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By the time the jaws shut, the gripper site has moved +0.5 cm forward, -12.2 cm to the robot's left and +9.8 cm up from where it is now (path length 42.7 cm); in the top camera that is +52 px right and -24 px down. Gripper command: now 1.00 open; starts closing at +0.27 s and is shut (0.23) at +2.17 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5371, - 0.121, - 0.895 - ], - "grasp_site_now_uv": [ - 265.9, - 246.9 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5424, - -0.0006, - 0.993 - ], - "grasp_site_at_shut_uv": [ - 317.5, - 222.6 - ], - "shut_in_top_view": true, - "close_onset_frame": 8, - "close_done_frame": 65, - "path_len_cm": 42.7, - "path_uv_every_3_frames": [ - [ - 265.4, - 240.6 - ], - [ - 272.3, - 238.1 - ], - [ - 280.6, - 236.3 - ], - [ - 291.5, - 235.2 - ], - [ - 305.7, - 235.5 - ], - [ - 319.1, - 237.3 - ], - [ - 328.8, - 237.4 - ], - [ - 334.5, - 239.1 - ], - [ - 336.2, - 243.2 - ], - [ - 335.8, - 247.1 - ], - [ - 335.6, - 248.4 - ], - [ - 335.0, - 247.7 - ], - [ - 334.4, - 247.6 - ], - [ - 334.9, - 248.2 - ], - [ - 336.0, - 246.2 - ], - [ - 336.2, - 242.6 - ], - [ - 335.1, - 237.1 - ], - [ - 332.9, - 231.7 - ], - [ - 330.2, - 227.5 - ], - 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1.50969, - 0.70478, - -1.09846, - 0.91673, - 0.8814, - 1.28119, - 0.86461, - 0.19322, - -0.08755, - 0.12303, - 0.0387 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -4.5 cm forward, -0.5 cm to the robot's left and +2.6 cm up from where it is now (path length 1.0 cm); in the top camera that is -4 px right and +6 px down. Gripper command: now 0.92 open; starts closing at +0.23 s and is shut (0.00) at +0.60 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.6617, - 0.1766, - 1.2101 - ], - "grasp_site_now_uv": [ - 226.5, - 102.9 - ], - "grasp_site_at_shut_xyz_m": [ - 0.617, - 0.1717, - 1.2361 - ], - "grasp_site_at_shut_uv": [ - 223.0, - 108.6 - ], - "shut_in_top_view": true, - "close_onset_frame": 7, - "close_done_frame": 18, - "path_len_cm": 1.0, - "path_uv_every_3_frames": [ - [ - 222.0, - 107.5 - ], - [ - 222.3, - 107.9 - ], - [ - 222.6, - 108.6 - ], - [ - 222.8, - 108.9 - ], - [ - 223.7, - 108.5 - ], - [ - 224.3, - 108.2 - ], - [ - 223.0, - 108.6 - ], - [ - 223.0, - 108.6 - ], - [ - 223.0, - 108.6 - ], - [ - 223.0, - 108.6 - ], - [ - 223.0, - 108.6 - ], - [ - 223.0, - 108.6 - ], - [ - 223.0, - 108.6 - ], - [ - 223.0, - 108.6 - ], - [ - 223.0, - 108.6 - ], - [ - 223.0, - 108.6 - ], - [ - 223.0, - 108.6 - ], - [ - 223.0, - 108.6 - ], - [ - 223.0, - 108.6 - ], - 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By the time the jaws shut, the gripper site has moved +6.4 cm forward, -2.8 cm to the robot's left and +0.8 cm up from where it is now (path length 10.5 cm); in the top camera that is +19 px right and -36 px down. Gripper command: now 0.92 open; starts closing at +1.27 s and is shut (0.01) at +2.17 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5193, - 0.0162, - 1.2269 - ], - "grasp_site_now_uv": [ - 308.8, - 144.7 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5836, - -0.0117, - 1.2352 - ], - "grasp_site_at_shut_uv": [ - 327.7, - 109.0 - ], - "shut_in_top_view": true, - "close_onset_frame": 38, - "close_done_frame": 65, - "path_len_cm": 10.5, - "path_uv_every_3_frames": [ - [ - 322.9, - 131.1 - ], - [ - 327.1, - 128.6 - ], - [ - 326.2, - 126.3 - ], - [ - 323.5, - 125.1 - ], - [ - 323.3, - 123.7 - ], - [ - 325.7, - 123.6 - ], - [ - 326.9, - 125.7 - ], - [ - 328.4, - 127.0 - ], - [ - 329.1, - 125.8 - ], - [ - 329.3, - 122.1 - ], - [ - 326.6, - 119.8 - ], - [ - 325.9, - 117.1 - ], - [ - 326.5, - 117.1 - ], - [ - 331.0, - 118.3 - ], - [ - 332.2, - 119.1 - ], - [ - 331.2, - 118.0 - ], - [ - 328.7, - 116.3 - ], - [ - 328.5, - 114.4 - ], - [ - 327.8, - 113.4 - 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0.58843, - 0.08623, - -0.00668, - 1.1099, - 1.35405, - -1.3323, - -0.8444, - -1.41928, - 0.93136 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -5.1 cm forward, +0.7 cm to the robot's left and -3.9 cm up from where it is now (path length 2.3 cm); in the top camera that is -5 px right and +36 px down. Gripper command: now 0.93 open; starts closing at +0.00 s and is shut (0.18) at +0.73 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4659, - -0.1843, - 1.0523 - ], - "grasp_site_now_uv": [ - 531.7, - 241.2 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4151, - -0.1773, - 1.013 - ], - "grasp_site_at_shut_uv": [ - 526.5, - 277.3 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 22, - "path_len_cm": 2.3, - "path_uv_every_3_frames": [ - [ - 533.6, - 272.5 - ], - [ - 530.8, - 276.1 - ], - [ - 529.9, - 276.7 - ], - [ - 529.0, - 275.9 - ], - [ - 528.3, - 275.6 - ], - [ - 527.2, - 275.6 - ], - [ - 526.7, - 276.6 - ], - [ - 526.6, - 277.2 - ], - [ - 526.5, - 277.3 - ], - [ - 526.5, - 277.3 - ], - [ - 526.5, - 277.3 - ], - [ - 526.5, - 277.3 - ], - [ - 526.5, - 277.3 - ], - [ - 526.5, - 277.3 - ], - [ - 526.5, - 277.3 - ], - [ - 526.5, - 277.3 - ], - [ - 526.5, - 277.3 - ], - [ - 526.5, - 277.3 - ], - [ - 526.5, - 277.3 - 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By the time the jaws shut, the gripper site has moved +7.6 cm forward, -8.8 cm to the robot's left and +9.6 cm up from where it is now (path length 31.0 cm); in the top camera that is +55 px right and -87 px down. Gripper command: now 0.99 open; starts closing at +0.03 s and is shut (0.20) at +2.40 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5966, - 0.1261, - 1.2302 - ], - "grasp_site_now_uv": [ - 237.0, - 109.5 - ], - "grasp_site_at_shut_xyz_m": [ - 0.6722, - 0.0385, - 1.3261 - ], - "grasp_site_at_shut_uv": [ - 291.8, - 22.5 - ], - "shut_in_top_view": true, - "close_onset_frame": 1, - "close_done_frame": 72, - "path_len_cm": 31.0, - "path_uv_every_3_frames": [ - [ - 237.7, - 94.4 - ], - [ - 238.8, - 81.7 - ], - [ - 237.1, - 71.4 - ], - [ - 241.9, - 66.5 - ], - [ - 242.6, - 62.9 - ], - [ - 242.2, - 57.7 - ], - [ - 240.1, - 52.7 - ], - [ - 237.5, - 45.6 - ], - [ - 232.9, - 40.8 - ], - [ - 233.5, - 38.2 - ], - [ - 239.5, - 37.4 - ], - [ - 246.3, - 34.1 - ], - [ - 253.1, - 31.7 - ], - [ - 255.7, - 29.9 - ], - [ - 258.1, - 29.0 - ], - [ - 261.0, - 27.8 - ], - [ - 263.4, - 29.7 - ], - [ - 265.7, - 31.2 - ], - [ - 269.9, - 30.8 - ], - [ - 277.4, - 27.6 - 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By the time the jaws shut, the gripper site has moved -11.6 cm forward, +1.7 cm to the robot's left and -10.3 cm up from where it is now (path length 31.8 cm); in the top camera that is -9 px right and +72 px down. Gripper command: now 0.88 open; starts closing at +1.07 s and is shut (0.48) at +2.73 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.7606, - -0.0609, - 1.024 - ], - "grasp_site_now_uv": [ - 350.3, - 134.4 - ], - "grasp_site_at_shut_xyz_m": [ - 0.6443, - -0.0434, - 0.9207 - ], - "grasp_site_at_shut_uv": [ - 341.5, - 206.8 - ], - "shut_in_top_view": true, - "close_onset_frame": 32, - "close_done_frame": 82, - "path_len_cm": 31.8, - "path_uv_every_3_frames": [ - [ - 352.5, - 145.0 - ], - [ - 353.2, - 155.0 - ], - [ - 355.4, - 162.3 - ], - [ - 359.5, - 166.6 - ], - [ - 357.0, - 173.9 - ], - [ - 352.3, - 180.1 - ], - [ - 347.0, - 186.2 - ], - [ - 343.5, - 190.3 - ], - [ - 338.5, - 195.7 - ], - [ - 335.6, - 199.7 - ], - [ - 335.3, - 202.4 - ], - [ - 335.4, - 206.5 - ], - [ - 335.0, - 209.1 - ], - [ - 335.4, - 210.3 - ], - [ - 335.2, - 211.4 - ], - [ - 334.6, - 213.1 - ], - [ - 336.9, - 213.0 - ], - [ - 338.1, - 212.8 - ], - [ - 338.9, - 212.6 - 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By the time the jaws shut, the gripper site has moved +2.4 cm forward, -8.3 cm to the robot's left and +1.4 cm up from where it is now (path length 27.2 cm); in the top camera that is +31 px right and -10 px down. Gripper command: now 0.89 open; starts closing at +0.23 s and is shut (0.23) at +2.00 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.6762, - -0.2457, - 0.8386 - ], - "grasp_site_now_uv": [ - 403.4, - 212.4 - ], - "grasp_site_at_shut_xyz_m": [ - 0.6998, - -0.3288, - 0.8521 - ], - "grasp_site_at_shut_uv": [ - 434.4, - 202.3 - ], - "shut_in_top_view": true, - "close_onset_frame": 7, - "close_done_frame": 60, - "path_len_cm": 27.2, - "path_uv_every_3_frames": [ - [ - 394.4, - 215.0 - ], - [ - 390.6, - 215.7 - ], - [ - 389.0, - 215.0 - ], - [ - 388.7, - 214.8 - ], - [ - 390.1, - 212.4 - ], - [ - 391.9, - 212.3 - ], - [ - 392.9, - 213.6 - ], - [ - 391.6, - 215.5 - ], - [ - 392.3, - 217.0 - ], - [ - 394.9, - 219.4 - ], - [ - 398.8, - 221.6 - ], - [ - 402.6, - 222.5 - ], - [ - 407.5, - 223.1 - ], - [ - 412.8, - 225.4 - ], - [ - 419.5, - 226.5 - ], - [ - 423.4, - 222.5 - ], - [ - 426.0, - 215.1 - ], - [ - 428.6, - 209.0 - ], - [ - 431.5, - 203.6 - 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By the time the jaws shut, the gripper site has moved +28.7 cm forward, -13.1 cm to the robot's left and +1.8 cm up from where it is now (path length 39.6 cm); in the top camera that is +45 px right and -112 px down. Gripper command: now 0.96 open; starts closing at +0.03 s and is shut (0.00) at +1.40 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4735, - -0.1669, - 0.8896 - ], - "grasp_site_now_uv": [ - 505.6, - 274.9 - ], - "grasp_site_at_shut_xyz_m": [ - 0.7606, - -0.2983, - 0.9074 - ], - "grasp_site_at_shut_uv": [ - 550.3, - 162.9 - ], - "shut_in_top_view": true, - "close_onset_frame": 1, - "close_done_frame": 42, - "path_len_cm": 39.6, - "path_uv_every_3_frames": [ - [ - 504.9, - 269.1 - ], - [ - 505.8, - 262.9 - ], - [ - 517.9, - 244.4 - ], - [ - 529.4, - 225.9 - ], - [ - 537.2, - 208.9 - ], - [ - 543.5, - 192.9 - ], - [ - 545.2, - 177.8 - ], - [ - 545.4, - 164.0 - ], - [ - 542.1, - 159.6 - ], - [ - 538.6, - 156.4 - ], - [ - 536.8, - 157.6 - ], - [ - 537.9, - 159.6 - ], - [ - 541.1, - 161.1 - ], - [ - 545.3, - 162.4 - ], - [ - 550.3, - 162.9 - ], - [ - 550.3, - 162.9 - ], - [ - 550.3, - 162.9 - ], - [ - 550.3, - 162.9 - ], - [ - 550.3, - 162.9 - 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By the time the jaws shut, the gripper site has moved -1.1 cm forward, -2.1 cm to the robot's left and +4.0 cm up from where it is now (path length 3.4 cm); in the top camera that is +19 px right and -12 px down. Gripper command: now 0.76 open; starts closing at +0.13 s and is shut (0.00) at +1.43 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5799, - -0.1557, - 1.1457 - ], - "grasp_site_now_uv": [ - 407.7, - 153.8 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5691, - -0.177, - 1.186 - ], - "grasp_site_at_shut_uv": [ - 426.3, - 142.0 - ], - "shut_in_top_view": true, - "close_onset_frame": 4, - "close_done_frame": 43, - "path_len_cm": 3.4, - "path_uv_every_3_frames": [ - [ - 413.5, - 140.7 - ], - [ - 415.2, - 140.5 - ], - [ - 416.7, - 140.9 - ], - [ - 418.8, - 143.5 - ], - [ - 419.6, - 144.1 - ], - [ - 420.3, - 145.2 - ], - [ - 421.7, - 145.0 - ], - [ - 423.6, - 145.4 - ], - [ - 424.5, - 145.0 - ], - [ - 424.9, - 144.2 - ], - [ - 425.3, - 144.2 - ], - [ - 425.5, - 144.4 - ], - [ - 425.5, - 144.2 - ], - [ - 425.7, - 142.7 - ], - [ - 426.2, - 142.2 - ], - [ - 426.3, - 142.0 - ], - [ - 426.3, - 142.0 - ], - [ - 426.3, - 142.0 - ], - [ - 426.3, - 142.0 - ], - 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1.53944, - 0.62505, - 0.7517, - -0.54723, - -0.20047, - 0.00453 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -1.0 cm forward, -39.4 cm to the robot's left and -15.1 cm up from where it is now (path length 41.5 cm); in the top camera that is +175 px right and +47 px down. Gripper command: now 1.00 open; starts closing at +0.20 s and is shut (0.56) at +1.77 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.7812, - 0.4478, - 1.0821 - ], - "grasp_site_now_uv": [ - 126.4, - 116.2 - ], - "grasp_site_at_shut_xyz_m": [ - 0.7709, - 0.0535, - 0.9314 - ], - "grasp_site_at_shut_uv": [ - 301.7, - 163.4 - ], - "shut_in_top_view": true, - "close_onset_frame": 6, - "close_done_frame": 53, - "path_len_cm": 41.5, - "path_uv_every_3_frames": [ - [ - 146.4, - 117.7 - ], - [ - 151.2, - 120.0 - ], - [ - 164.6, - 124.7 - ], - [ - 179.4, - 126.8 - ], - [ - 199.9, - 125.7 - ], - [ - 225.2, - 127.0 - ], - [ - 248.3, - 130.8 - ], - [ - 267.4, - 137.3 - ], - [ - 281.8, - 145.5 - ], - [ - 289.7, - 152.2 - ], - [ - 291.0, - 154.4 - ], - [ - 290.7, - 154.1 - ], - [ - 291.6, - 154.1 - ], - [ - 293.2, - 154.5 - ], - [ - 296.9, - 157.6 - ], - [ - 300.9, - 161.6 - ], - [ - 302.2, - 163.0 - ], - [ - 302.0, - 163.7 - ], - [ - 301.7, - 163.4 - 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0.36346, - 0.26506 - ], - [ - -0.37799, - 1.36068, - 1.40219, - -0.61871, - 0.19307, - -0.57553, - 0.0, - 0.71959, - 1.39821, - 1.40563, - -0.47151, - -0.07363, - 0.36346, - 0.26506 - ] - ], - "state_t": [ - -0.33398, - 1.39143, - 1.55737, - -0.81922, - 0.21267, - -0.4736, - 0.06781, - 0.81159, - 1.23388, - 1.12287, - 0.33894, - -0.16804, - 0.07649, - 0.9884 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +5.3 cm forward, -2.6 cm to the robot's left and -12.3 cm up from where it is now (path length 31.0 cm); in the top camera that is +14 px right and +20 px down. Gripper command: now 0.99 open; starts closing at +0.07 s and is shut (0.27) at +1.40 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5198, - 0.0129, - 1.2002 - ], - "grasp_site_now_uv": [ - 315.8, - 163.3 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5729, - -0.0126, - 1.0769 - ], - "grasp_site_at_shut_uv": [ - 329.8, - 183.6 - ], - "shut_in_top_view": true, - "close_onset_frame": 2, - "close_done_frame": 42, - "path_len_cm": 31.0, - "path_uv_every_3_frames": [ - [ - 324.8, - 156.4 - ], - [ - 331.4, - 147.6 - ], - [ - 336.9, - 137.4 - ], - [ - 344.3, - 129.8 - ], - [ - 351.0, - 125.6 - ], - [ - 359.2, - 125.3 - ], - [ - 371.3, - 127.4 - ], - [ - 375.2, - 131.9 - ], - [ - 371.0, - 137.1 - ], - [ - 359.3, - 144.2 - ], - [ - 345.2, - 154.7 - ], - [ - 338.8, - 164.1 - ], - [ - 336.5, - 171.5 - ], - [ - 332.3, - 178.3 - ], - [ - 329.8, - 183.6 - ], - [ - 329.8, - 183.6 - ], - [ - 329.8, - 183.6 - ], - [ - 329.8, - 183.6 - ], - [ - 329.8, - 183.6 - 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-0.74216, - 0.7929, - 0.4015, - -0.24662, - 0.17529, - -2.00446, - 0.00898, - 0.5312, - 1.3426, - 0.71088, - 0.25998, - -0.37976, - 0.83867, - 0.98158 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +4.3 cm forward, +2.7 cm to the robot's left and +2.6 cm up from where it is now (path length 7.2 cm); in the top camera that is -13 px right and -24 px down. Gripper command: now 0.98 open; starts closing at +0.10 s and is shut (0.01) at +0.83 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5736, - -0.0482, - 0.9407 - ], - "grasp_site_now_uv": [ - 333.3, - 222.5 - ], - "grasp_site_at_shut_xyz_m": [ - 0.6169, - -0.0217, - 0.9662 - ], - "grasp_site_at_shut_uv": [ - 320.5, - 198.3 - ], - "shut_in_top_view": true, - "close_onset_frame": 3, - "close_done_frame": 25, - "path_len_cm": 7.2, - "path_uv_every_3_frames": [ - [ - 328.0, - 217.4 - ], - [ - 324.0, - 217.3 - ], - [ - 320.7, - 216.0 - ], - [ - 317.2, - 213.1 - ], - [ - 315.0, - 208.3 - ], - [ - 315.0, - 203.8 - ], - [ - 315.4, - 201.1 - ], - [ - 317.7, - 199.9 - ], - [ - 320.2, - 199.0 - ], - [ - 320.5, - 198.3 - ], - [ - 320.5, - 198.3 - ], - [ - 320.5, - 198.3 - ], - [ - 320.5, - 198.3 - ], - [ - 320.5, - 198.3 - ], - [ - 320.5, - 198.3 - ], - [ - 320.5, - 198.3 - ], - [ - 320.5, - 198.3 - ], - [ - 320.5, - 198.3 - ], - [ - 320.5, - 198.3 - 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By the time the jaws shut, the gripper site has moved +2.8 cm forward, -1.5 cm to the robot's left and -0.8 cm up from where it is now (path length 10.9 cm); in the top camera that is +6 px right and -12 px down. Gripper command: now 0.96 open; starts closing at +0.00 s and is shut (0.00) at +1.17 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.3829, - -0.0508, - 0.8253 - ], - "grasp_site_now_uv": [ - 351.2, - 330.6 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4114, - -0.0655, - 0.8169 - ], - "grasp_site_at_shut_uv": [ - 357.5, - 319.1 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 35, - "path_len_cm": 10.9, - "path_uv_every_3_frames": [ - [ - 357.0, - 346.1 - ], - [ - 355.5, - 348.0 - ], - [ - 354.3, - 340.2 - ], - [ - 352.8, - 336.6 - ], - [ - 353.4, - 332.4 - ], - [ - 354.6, - 330.7 - ], - [ - 357.1, - 331.9 - ], - [ - 359.5, - 329.9 - ], - [ - 358.0, - 327.0 - ], - [ - 356.7, - 326.5 - ], - [ - 356.9, - 326.2 - ], - [ - 358.3, - 323.2 - ], - [ - 357.5, - 319.1 - ], - [ - 357.5, - 319.1 - ], - [ - 357.5, - 319.1 - ], - [ - 357.5, - 319.1 - ], - [ - 357.5, - 319.1 - ], - [ - 357.5, - 319.1 - ], - [ - 357.5, - 319.1 - 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0.28248, - 2.1788, - 1.93389, - -0.52625, - -0.30957, - 0.37098, - 0.13296 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +1.6 cm forward, -0.3 cm to the robot's left and -4.7 cm up from where it is now (path length 14.0 cm); in the top camera that is +2 px right and +8 px down. Gripper command: now 0.99 open; starts closing at +1.07 s and is shut (0.00) at +1.73 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.8164, - 0.0627, - 0.8975 - ], - "grasp_site_now_uv": [ - 297.1, - 150.3 - ], - "grasp_site_at_shut_xyz_m": [ - 0.832, - 0.0597, - 0.8507 - ], - "grasp_site_at_shut_uv": [ - 299.4, - 158.1 - ], - "shut_in_top_view": true, - "close_onset_frame": 32, - "close_done_frame": 52, - "path_len_cm": 14.0, - "path_uv_every_3_frames": [ - [ - 298.6, - 134.9 - ], - [ - 298.0, - 136.0 - ], - [ - 296.5, - 140.2 - ], - [ - 294.9, - 145.3 - ], - [ - 293.5, - 149.4 - ], - [ - 293.6, - 151.7 - ], - [ - 294.4, - 149.9 - ], - [ - 295.2, - 150.3 - ], - [ - 295.9, - 150.2 - ], - [ - 296.2, - 151.6 - ], - [ - 296.6, - 153.4 - ], - [ - 296.7, - 155.4 - ], - [ - 297.1, - 159.1 - ], - [ - 297.8, - 160.4 - ], - [ - 298.1, - 160.4 - ], - [ - 298.8, - 159.8 - ], - [ - 299.0, - 159.7 - ], - [ - 299.3, - 158.7 - ], - [ - 299.4, - 158.1 - 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By the time the jaws shut, the gripper site has moved +0.3 cm forward, +1.5 cm to the robot's left and +1.2 cm up from where it is now (path length 8.6 cm); in the top camera that is -8 px right and -5 px down. Gripper command: now 1.00 open; starts closing at +0.17 s and is shut (0.62) at +0.73 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.7167, - 0.269, - 1.1085 - ], - "grasp_site_now_uv": [ - 199.5, - 131.4 - ], - "grasp_site_at_shut_xyz_m": [ - 0.7195, - 0.2838, - 1.1202 - ], - "grasp_site_at_shut_uv": [ - 191.3, - 126.4 - ], - "shut_in_top_view": true, - "close_onset_frame": 5, - "close_done_frame": 22, - "path_len_cm": 8.6, - "path_uv_every_3_frames": [ - [ - 190.6, - 119.5 - ], - [ - 183.9, - 114.2 - ], - [ - 179.6, - 112.8 - ], - [ - 179.6, - 112.9 - ], - [ - 182.0, - 113.5 - ], - [ - 183.3, - 116.0 - ], - [ - 188.0, - 121.2 - ], - [ - 191.4, - 125.7 - ], - [ - 191.3, - 126.4 - ], - [ - 191.3, - 126.4 - ], - [ - 191.3, - 126.4 - ], - [ - 191.3, - 126.4 - ], - [ - 191.3, - 126.4 - ], - [ - 191.3, - 126.4 - ], - [ - 191.3, - 126.4 - ], - [ - 191.3, - 126.4 - ], - [ - 191.3, - 126.4 - ], - [ - 191.3, - 126.4 - ], - [ - 191.3, - 126.4 - ], - 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-0.26074, - 0.53349, - 0.83829, - -0.49802, - 0.19169, - -0.39311, - 0.97014, - 0.57965, - 0.81998, - 0.83486, - -0.14286, - -0.519, - 0.4324, - 0.08814 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -2.0 cm forward, -13.6 cm to the robot's left and -19.4 cm up from where it is now (path length 27.4 cm); in the top camera that is +88 px right and +58 px down. Gripper command: now 0.96 open; starts closing at +1.60 s and is shut (0.00) at +3.67 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4807, - 0.2156, - 1.0828 - ], - "grasp_site_now_uv": [ - 299.2, - 224.7 - ], - "grasp_site_at_shut_xyz_m": [ - 0.461, - 0.0795, - 0.8892 - ], - "grasp_site_at_shut_uv": [ - 387.3, - 283.0 - ], - "shut_in_top_view": true, - "close_onset_frame": 48, - "close_done_frame": 110, - "path_len_cm": 27.4, - "path_uv_every_3_frames": [ - [ - 311.0, - 230.6 - ], - [ - 318.0, - 234.6 - ], - [ - 323.6, - 238.5 - ], - [ - 328.3, - 241.4 - ], - [ - 331.3, - 243.3 - ], - [ - 333.8, - 244.3 - ], - [ - 336.6, - 245.2 - ], - [ - 337.6, - 244.6 - ], - [ - 338.4, - 246.2 - ], - [ - 340.4, - 249.1 - ], - [ - 342.3, - 250.0 - ], - [ - 345.5, - 249.4 - ], - [ - 348.9, - 247.3 - ], - [ - 353.4, - 245.9 - ], - [ - 359.2, - 247.0 - ], - [ - 362.3, - 248.9 - ], - [ - 367.3, - 253.3 - ], - [ - 371.6, - 257.5 - ], - [ - 374.1, - 261.0 - 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1.29315, - -0.71632, - -0.02004, - 0.22537, - 0.06587 - ], - [ - -0.49097, - 2.46198, - 2.18746, - -0.84308, - 0.4646, - 0.07379, - 0.0, - -0.15197, - 1.84689, - 1.29315, - -0.71632, - -0.02004, - 0.22537, - 0.06587 - ], - [ - -0.49097, - 2.46198, - 2.18746, - -0.84308, - 0.4646, - 0.07379, - 0.0, - -0.15197, - 1.84689, - 1.29315, - -0.71632, - -0.02004, - 0.22537, - 0.06587 - ] - ], - "state_t": [ - -0.60712, - 1.94991, - 1.48528, - -0.5663, - 0.26951, - -0.45377, - 0.72788, - -0.15469, - 1.86522, - 1.32429, - -0.69867, - 0.00935, - 0.23213, - 0.08764 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +9.9 cm forward, -2.5 cm to the robot's left and -3.1 cm up from where it is now (path length 32.6 cm); in the top camera that is +9 px right and -24 px down. Gripper command: now 0.75 open; starts closing at +0.17 s and is shut (0.00) at +2.50 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.6257, - -0.0044, - 0.8491 - ], - "grasp_site_now_uv": [ - 312.8, - 226.3 - ], - "grasp_site_at_shut_xyz_m": [ - 0.7249, - -0.0289, - 0.8181 - ], - "grasp_site_at_shut_uv": [ - 321.5, - 202.0 - ], - "shut_in_top_view": true, - "close_onset_frame": 5, - "close_done_frame": 75, - "path_len_cm": 32.6, - "path_uv_every_3_frames": [ - [ - 308.0, - 188.0 - ], - [ - 294.2, - 171.8 - ], - [ - 284.7, - 166.8 - ], - [ - 284.9, - 165.3 - ], - [ - 289.4, - 166.2 - ], - [ - 296.8, - 169.2 - ], - [ - 303.4, - 173.6 - ], - [ - 309.6, - 178.0 - ], - [ - 316.6, - 184.0 - ], - [ - 320.4, - 189.6 - ], - [ - 321.3, - 193.3 - ], - [ - 322.5, - 194.4 - ], - [ - 321.7, - 195.3 - ], - [ - 321.0, - 196.5 - ], - [ - 320.6, - 196.3 - ], - [ - 320.4, - 196.2 - ], - [ - 320.7, - 197.7 - ], - [ - 320.7, - 199.1 - ], - [ - 320.5, - 200.1 - 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By the time the jaws shut, the gripper site has moved +0.6 cm forward, +4.7 cm to the robot's left and -5.2 cm up from where it is now (path length 17.6 cm); in the top camera that is -20 px right and +9 px down. Gripper command: now 0.62 open; starts closing at +0.03 s and is shut (0.16) at +2.00 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.613, - -0.0967, - 0.8784 - ], - "grasp_site_now_uv": [ - 365.7, - 224.5 - ], - "grasp_site_at_shut_xyz_m": [ - 0.6193, - -0.0497, - 0.826 - ], - "grasp_site_at_shut_uv": [ - 346.0, - 233.2 - ], - "shut_in_top_view": true, - "close_onset_frame": 1, - "close_done_frame": 60, - "path_len_cm": 17.6, - "path_uv_every_3_frames": [ - [ - 367.4, - 220.7 - ], - [ - 365.4, - 220.2 - ], - [ - 362.5, - 220.1 - ], - [ - 360.6, - 220.2 - ], - [ - 357.0, - 220.5 - ], - [ - 352.6, - 221.4 - ], - [ - 349.7, - 224.8 - ], - [ - 349.8, - 226.3 - ], - [ - 349.7, - 227.0 - ], - [ - 349.2, - 228.6 - ], - [ - 349.1, - 231.5 - ], - [ - 349.1, - 234.8 - ], - [ - 350.6, - 237.9 - ], - [ - 351.2, - 238.1 - ], - [ - 351.6, - 238.2 - ], - [ - 352.2, - 238.1 - ], - [ - 351.8, - 237.2 - ], - [ - 351.1, - 236.3 - ], - [ - 349.4, - 235.1 - 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0.0, - 0.45559, - 1.32383, - 1.25785, - 0.10584, - -0.58443, - 0.77004, - 0.45215 - ] - ], - "state_t": [ - -0.25578, - 2.30583, - 1.96632, - -1.01263, - 0.08488, - -0.56897, - 0.76557, - 0.36641, - 0.74559, - 1.20069, - -0.52396, - 0.45796, - 0.20275, - 0.83138 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +7.9 cm forward, +25.1 cm to the robot's left and -1.7 cm up from where it is now (path length 29.8 cm); in the top camera that is -166 px right and -32 px down. Gripper command: now 0.83 open; starts closing at +1.60 s and is shut (0.45) at +1.93 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5088, - -0.2922, - 1.1891 - ], - "grasp_site_now_uv": [ - 514.1, - 168.4 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5879, - -0.0412, - 1.1723 - ], - "grasp_site_at_shut_uv": [ - 347.9, - 136.8 - ], - "shut_in_top_view": true, - "close_onset_frame": 48, - "close_done_frame": 58, - "path_len_cm": 29.8, - "path_uv_every_3_frames": [ - [ - 511.3, - 172.2 - ], - [ - 509.5, - 171.5 - ], - [ - 507.5, - 171.2 - ], - [ - 505.7, - 170.7 - ], - [ - 501.3, - 169.2 - ], - [ - 491.5, - 164.5 - ], - [ - 478.0, - 155.7 - ], - [ - 457.9, - 144.6 - ], - [ - 431.0, - 135.8 - ], - [ - 409.5, - 130.1 - ], - [ - 393.7, - 127.5 - ], - [ - 380.4, - 129.5 - ], - [ - 373.3, - 132.3 - ], - [ - 367.9, - 134.6 - ], - [ - 360.8, - 137.3 - ], - [ - 352.8, - 139.5 - ], - [ - 347.5, - 141.0 - ], - [ - 345.7, - 139.6 - ], - [ - 346.9, - 138.7 - 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By the time the jaws shut, the gripper site has moved +2.5 cm forward, -3.8 cm to the robot's left and +0.9 cm up from where it is now (path length 5.2 cm); in the top camera that is +21 px right and -15 px down. Gripper command: now 0.95 open; starts closing at +0.00 s and is shut (0.00) at +0.97 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4541, - -0.01, - 1.0201 - ], - "grasp_site_now_uv": [ - 431.4, - 255.9 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4792, - -0.0481, - 1.0294 - ], - "grasp_site_at_shut_uv": [ - 452.6, - 241.2 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 29, - "path_len_cm": 5.2, - "path_uv_every_3_frames": [ - [ - 435.7, - 251.3 - ], - [ - 438.8, - 248.2 - ], - [ - 443.5, - 245.7 - ], - [ - 447.3, - 244.0 - ], - [ - 449.1, - 242.5 - ], - [ - 450.6, - 242.4 - ], - [ - 452.2, - 242.0 - ], - [ - 453.2, - 241.7 - ], - [ - 453.3, - 242.1 - ], - [ - 452.9, - 241.8 - ], - [ - 452.6, - 241.2 - ], - [ - 452.6, - 241.2 - ], - [ - 452.6, - 241.2 - ], - [ - 452.6, - 241.2 - ], - [ - 452.6, - 241.2 - ], - [ - 452.6, - 241.2 - ], - [ - 452.6, - 241.2 - ], - [ - 452.6, - 241.2 - ], - [ - 452.6, - 241.2 - ], - 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By the time the jaws shut, the gripper site has moved +0.8 cm forward, -1.2 cm to the robot's left and +4.8 cm up from where it is now (path length 18.8 cm); in the top camera that is +10 px right and -16 px down. Gripper command: now 0.93 open; starts closing at +0.00 s and is shut (0.00) at +1.00 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.6742, - -0.2883, - 0.8944 - ], - "grasp_site_now_uv": [ - 445.0, - 193.0 - ], - "grasp_site_at_shut_xyz_m": [ - 0.6827, - -0.3002, - 0.9428 - ], - "grasp_site_at_shut_uv": [ - 455.2, - 177.1 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 30, - "path_len_cm": 18.8, - "path_uv_every_3_frames": [ - [ - 453.3, - 188.9 - ], - [ - 460.6, - 190.2 - ], - [ - 463.2, - 190.9 - ], - [ - 462.8, - 192.9 - ], - [ - 460.9, - 193.2 - ], - [ - 459.6, - 190.6 - ], - [ - 460.8, - 187.2 - ], - [ - 462.0, - 180.8 - ], - [ - 461.2, - 177.7 - ], - [ - 459.6, - 174.5 - ], - [ - 455.2, - 177.1 - ], - [ - 455.2, - 177.1 - ], - [ - 455.2, - 177.1 - ], - [ - 455.2, - 177.1 - ], - [ - 455.2, - 177.1 - ], - [ - 455.2, - 177.1 - ], - [ - 455.2, - 177.1 - ], - [ - 455.2, - 177.1 - ], - [ - 455.2, - 177.1 - 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"plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +3.8 cm forward, -2.2 cm to the robot's left and +1.2 cm up from where it is now (path length 11.0 cm); in the top camera that is +15 px right and -24 px down. Gripper command: now 0.98 open; starts closing at +0.00 s and is shut (0.12) at +1.70 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5512, - 0.0308, - 1.2065 - ], - "grasp_site_now_uv": [ - 302.5, - 143.1 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5896, - 0.0086, - 1.2181 - ], - "grasp_site_at_shut_uv": [ - 317.2, - 119.4 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 51, - "path_len_cm": 11.0, - "path_uv_every_3_frames": [ - [ - 301.7, - 123.3 - ], - [ - 306.3, - 125.5 - ], - [ - 307.7, - 123.0 - ], - [ - 311.0, - 122.1 - ], - [ - 311.7, - 121.7 - ], - [ - 311.0, - 122.4 - ], - [ - 310.4, - 125.9 - ], - [ - 313.6, - 129.2 - ], - [ - 313.9, - 132.0 - ], - [ - 313.3, - 130.2 - ], - [ - 316.5, - 127.6 - ], - [ - 318.1, - 126.1 - ], - [ - 317.8, - 124.2 - ], - [ - 318.2, - 123.5 - ], - [ - 318.0, - 122.8 - ], - [ - 317.2, - 122.1 - ], - [ - 317.0, - 120.8 - ], - [ - 317.2, - 119.4 - ], - [ - 317.2, - 119.4 - 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By the time the jaws shut, the gripper site has moved -2.8 cm forward, +0.1 cm to the robot's left and +0.4 cm up from where it is now (path length 19.9 cm); in the top camera that is -1 px right and +9 px down. Gripper command: now 0.93 open; starts closing at +0.03 s and is shut (0.18) at +3.73 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.555, - 0.0376, - 0.7932 - ], - "grasp_site_now_uv": [ - 312.4, - 263.5 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5265, - 0.0387, - 0.797 - ], - "grasp_site_at_shut_uv": [ - 311.7, - 272.7 - ], - "shut_in_top_view": true, - "close_onset_frame": 1, - "close_done_frame": 112, - "path_len_cm": 19.9, - "path_uv_every_3_frames": [ - [ - 313.4, - 261.1 - ], - [ - 314.4, - 260.7 - ], - [ - 315.1, - 260.7 - ], - [ - 311.8, - 262.3 - ], - [ - 307.2, - 265.2 - ], - [ - 307.1, - 266.6 - ], - [ - 308.2, - 267.3 - ], - [ - 308.6, - 267.9 - ], - [ - 309.3, - 268.6 - ], - [ - 309.9, - 270.0 - ], - [ - 311.9, - 270.4 - ], - [ - 311.1, - 271.6 - ], - [ - 309.5, - 272.6 - ], - [ - 309.6, - 272.2 - ], - [ - 310.2, - 271.2 - ], - [ - 310.9, - 270.5 - ], - [ - 312.6, - 269.7 - ], - [ - 315.5, - 268.3 - ], - [ - 318.8, - 266.3 - ], - 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0.00072 - ], - [ - -0.87629, - 0.81761, - 0.84984, - -0.04991, - -0.21941, - -0.68564, - 0.15652, - 1.21491, - 1.15356, - 0.95118, - 0.00423, - 0.38046, - 0.42643, - 0.00072 - ], - [ - -0.87629, - 0.81761, - 0.84984, - -0.04991, - -0.21941, - -0.68564, - 0.15652, - 1.21491, - 1.15356, - 0.95118, - 0.00423, - 0.38046, - 0.42643, - 0.00072 - ], - [ - -0.87629, - 0.81761, - 0.84984, - -0.04991, - -0.21941, - -0.68564, - 0.15652, - 1.21491, - 1.15356, - 0.95118, - 0.00423, - 0.38046, - 0.42643, - 0.00072 - ] - ], - "state_t": [ - -0.87682, - 0.85927, - 0.85508, - -0.21763, - -0.20428, - -0.65366, - 0.67815, - 1.02598, - 1.14271, - 0.8875, - -0.05589, - 0.17605, - 0.57622, - 0.34118 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -0.1 cm forward, +0.6 cm to the robot's left and +5.0 cm up from where it is now (path length 4.6 cm); in the top camera that is -6 px right and -14 px down. Gripper command: now 0.68 open; starts closing at +0.13 s and is shut (0.16) at +1.13 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4884, - 0.0804, - 1.07 - ], - "grasp_site_now_uv": [ - 274.2, - 225.0 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4872, - 0.0861, - 1.1202 - ], - "grasp_site_at_shut_uv": [ - 268.4, - 210.7 - ], - "shut_in_top_view": true, - "close_onset_frame": 4, - "close_done_frame": 34, - "path_len_cm": 4.6, - "path_uv_every_3_frames": [ - [ - 273.7, - 218.0 - ], - [ - 273.6, - 218.0 - ], - [ - 273.7, - 217.3 - ], - [ - 273.5, - 216.1 - ], - [ - 273.3, - 215.1 - ], - [ - 272.8, - 214.2 - ], - [ - 272.3, - 213.6 - ], - [ - 271.3, - 212.8 - ], - [ - 269.8, - 211.7 - ], - [ - 268.6, - 211.2 - ], - [ - 268.1, - 210.5 - ], - [ - 268.3, - 210.6 - ], - [ - 268.4, - 210.7 - ], - [ - 268.4, - 210.7 - ], - [ - 268.4, - 210.7 - ], - [ - 268.4, - 210.7 - ], - [ - 268.4, - 210.7 - ], - [ - 268.4, - 210.7 - ], - [ - 268.4, - 210.7 - ], - 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-0.13676, - 0.34695, - 0.91673, - 0.94854, - 1.18734, - 0.61437, - 0.51328, - -0.1421, - 0.40608, - 0.00246 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -1.4 cm forward, +2.1 cm to the robot's left and +7.4 cm up from where it is now (path length 10.5 cm); in the top camera that is -16 px right and -19 px down. Gripper command: now 0.90 open; starts closing at +0.00 s and is shut (0.26) at +1.57 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.588, - 0.0801, - 1.0271 - ], - "grasp_site_now_uv": [ - 281.1, - 193.9 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5744, - 0.1011, - 1.1007 - ], - "grasp_site_at_shut_uv": [ - 265.4, - 175.2 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 47, - "path_len_cm": 10.5, - "path_uv_every_3_frames": [ - [ - 278.1, - 187.2 - ], - [ - 274.4, - 187.4 - ], - [ - 271.3, - 187.9 - ], - [ - 266.5, - 185.8 - ], - [ - 264.5, - 185.6 - ], - [ - 264.9, - 185.5 - ], - [ - 265.3, - 184.5 - ], - [ - 265.5, - 183.9 - ], - [ - 264.7, - 184.4 - ], - [ - 263.9, - 184.1 - ], - [ - 262.5, - 181.7 - ], - [ - 261.2, - 177.0 - ], - [ - 261.4, - 173.4 - ], - [ - 263.4, - 171.8 - ], - [ - 265.5, - 173.3 - ], - [ - 265.4, - 174.6 - ], - [ - 265.4, - 175.2 - ], - [ - 265.4, - 175.2 - ], - [ - 265.4, - 175.2 - ], - 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By the time the jaws shut, the gripper site has moved -0.4 cm forward, -8.1 cm to the robot's left and -2.6 cm up from where it is now (path length 16.1 cm); in the top camera that is +27 px right and +8 px down. Gripper command: now 0.91 open; starts closing at +0.00 s and is shut (0.00) at +1.10 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.8248, - -0.4261, - 0.8246 - ], - "grasp_site_now_uv": [ - 489.7, - 167.4 - ], - "grasp_site_at_shut_xyz_m": [ - 0.8204, - -0.5074, - 0.7985 - ], - "grasp_site_at_shut_uv": [ - 517.1, - 175.2 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 33, - "path_len_cm": 16.1, - "path_uv_every_3_frames": [ - [ - 497.7, - 167.6 - ], - [ - 496.8, - 172.0 - ], - [ - 493.8, - 173.8 - ], - [ - 491.3, - 175.9 - ], - [ - 488.9, - 176.9 - ], - [ - 485.7, - 176.3 - ], - [ - 482.3, - 176.0 - ], - [ - 483.4, - 177.9 - ], - [ - 489.7, - 178.6 - ], - [ - 497.3, - 178.1 - ], - [ - 507.2, - 178.0 - ], - [ - 517.1, - 175.2 - ], - [ - 517.1, - 175.2 - ], - [ - 517.1, - 175.2 - ], - [ - 517.1, - 175.2 - ], - [ - 517.1, - 175.2 - ], - [ - 517.1, - 175.2 - ], - [ - 517.1, - 175.2 - ], - [ - 517.1, - 175.2 - 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"plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -0.0 cm forward, -0.8 cm to the robot's left and +1.6 cm up from where it is now (path length 2.1 cm); in the top camera that is +0 px right and -3 px down. Gripper command: now 0.61 open; starts closing at +0.00 s and is shut (0.00) at +0.60 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.406, - 0.5016, - 0.8343 - ], - "grasp_site_now_uv": [ - 87.1, - 313.4 - ], - "grasp_site_at_shut_xyz_m": [ - 0.406, - 0.4935, - 0.8502 - ], - "grasp_site_at_shut_uv": [ - 87.4, - 310.8 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 18, - "path_len_cm": 2.1, - "path_uv_every_3_frames": [ - [ - 85.1, - 312.6 - ], - [ - 82.9, - 312.0 - ], - [ - 83.0, - 311.1 - ], - [ - 84.0, - 311.7 - ], - [ - 83.5, - 311.4 - ], - [ - 86.3, - 312.3 - ], - [ - 87.4, - 310.8 - ], - [ - 87.4, - 310.8 - ], - [ - 87.4, - 310.8 - ], - [ - 87.4, - 310.8 - ], - [ - 87.4, - 310.8 - ], - [ - 87.4, - 310.8 - ], - [ - 87.4, - 310.8 - ], - [ - 87.4, - 310.8 - ], - [ - 87.4, - 310.8 - ], - [ - 87.4, - 310.8 - ], - [ - 87.4, - 310.8 - ], - [ - 87.4, - 310.8 - ], - [ - 87.4, - 310.8 - ], - [ - 87.4, - 310.8 - 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-0.32827, - 0.45387 - ], - [ - -0.88817, - 0.80071, - 1.00012, - -0.29914, - 0.67649, - 0.75469, - 0.0, - 0.88357, - 1.30689, - 1.62447, - -0.96015, - -0.67182, - -0.32827, - 0.45387 - ] - ], - "state_t": [ - -0.6754, - 0.8154, - 0.85164, - -0.0124, - 0.78717, - -0.21611, - 0.58247, - 0.88483, - 1.18544, - 1.58484, - -0.88636, - -0.42821, - -0.71508, - 0.13487 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -5.2 cm forward, -1.0 cm to the robot's left and +1.1 cm up from where it is now (path length 8.3 cm); in the top camera that is +6 px right and +29 px down. Gripper command: now 0.65 open; starts closing at +0.27 s and is shut (0.00) at +2.13 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.3923, - 0.0437, - 1.1297 - ], - "grasp_site_now_uv": [ - 295.3, - 255.6 - ], - "grasp_site_at_shut_xyz_m": [ - 0.3402, - 0.0334, - 1.1403 - ], - "grasp_site_at_shut_uv": [ - 300.9, - 284.2 - ], - "shut_in_top_view": true, - "close_onset_frame": 8, - "close_done_frame": 64, - "path_len_cm": 8.3, - "path_uv_every_3_frames": [ - [ - 276.5, - 268.9 - ], - [ - 276.0, - 270.1 - ], - [ - 280.5, - 268.3 - ], - [ - 284.3, - 269.8 - ], - [ - 288.2, - 273.5 - ], - [ - 291.4, - 276.3 - ], - [ - 294.1, - 279.4 - ], - [ - 295.4, - 281.5 - ], - [ - 295.9, - 283.8 - ], - [ - 296.6, - 284.5 - ], - [ - 297.6, - 284.2 - ], - [ - 297.7, - 284.7 - ], - [ - 297.9, - 283.2 - ], - [ - 298.7, - 283.1 - ], - [ - 299.0, - 283.4 - ], - [ - 298.9, - 283.7 - ], - [ - 299.7, - 284.2 - ], - [ - 300.1, - 283.4 - ], - [ - 300.0, - 283.6 - ], - 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By the time the jaws shut, the gripper site has moved +5.3 cm forward, +1.9 cm to the robot's left and +0.2 cm up from where it is now (path length 13.7 cm); in the top camera that is -12 px right and -21 px down. Gripper command: now 0.71 open; starts closing at +1.57 s and is shut (0.13) at +2.50 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.572, - -0.2985, - 0.9109 - ], - "grasp_site_now_uv": [ - 458.5, - 227.1 - ], - "grasp_site_at_shut_xyz_m": [ - 0.6248, - -0.2799, - 0.9124 - ], - "grasp_site_at_shut_uv": [ - 446.5, - 206.4 - ], - "shut_in_top_view": true, - "close_onset_frame": 47, - "close_done_frame": 75, - "path_len_cm": 13.7, - "path_uv_every_3_frames": [ - [ - 462.8, - 216.3 - ], - [ - 456.4, - 213.5 - ], - [ - 450.4, - 214.3 - ], - [ - 445.0, - 214.8 - ], - [ - 446.0, - 214.5 - ], - [ - 447.1, - 213.0 - ], - [ - 446.9, - 211.5 - ], - [ - 445.1, - 211.0 - ], - [ - 443.9, - 212.5 - ], - [ - 442.5, - 213.9 - ], - [ - 440.6, - 215.9 - ], - [ - 439.0, - 217.4 - ], - [ - 437.7, - 218.3 - ], - [ - 438.0, - 217.6 - ], - [ - 438.4, - 216.7 - ], - [ - 438.6, - 215.9 - ], - [ - 438.1, - 214.9 - ], - [ - 438.5, - 213.8 - ], - [ - 439.1, - 212.1 - 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By the time the jaws shut, the gripper site has moved -0.1 cm forward, -5.1 cm to the robot's left and +11.8 cm up from where it is now (path length 8.1 cm); in the top camera that is +20 px right and -39 px down. Gripper command: now 0.87 open; starts closing at +0.00 s and is shut (0.39) at +0.53 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.6294, - 0.1302, - 0.9928 - ], - "grasp_site_now_uv": [ - 263.3, - 187.6 - ], - "grasp_site_at_shut_xyz_m": [ - 0.6282, - 0.0788, - 1.1109 - ], - "grasp_site_at_shut_uv": [ - 283.4, - 148.4 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 16, - "path_len_cm": 8.1, - "path_uv_every_3_frames": [ - [ - 265.8, - 169.6 - ], - [ - 270.4, - 163.5 - ], - [ - 277.2, - 156.3 - ], - [ - 282.0, - 151.7 - ], - [ - 283.7, - 149.8 - ], - [ - 283.9, - 148.2 - ], - [ - 283.4, - 148.4 - ], - [ - 283.4, - 148.4 - ], - [ - 283.4, - 148.4 - ], - [ - 283.4, - 148.4 - ], - [ - 283.4, - 148.4 - ], - [ - 283.4, - 148.4 - ], - [ - 283.4, - 148.4 - ], - [ - 283.4, - 148.4 - ], - [ - 283.4, - 148.4 - ], - [ - 283.4, - 148.4 - ], - [ - 283.4, - 148.4 - ], - [ - 283.4, - 148.4 - ], - [ - 283.4, - 148.4 - ], - 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By the time the jaws shut, the gripper site has moved +7.1 cm forward, -2.9 cm to the robot's left and -7.8 cm up from where it is now (path length 12.5 cm); in the top camera that is +3 px right and -9 px down. Gripper command: now 0.65 open; starts closing at +0.27 s and is shut (0.15) at +0.67 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.573, - -0.1981, - 0.874 - ], - "grasp_site_now_uv": [ - 514.3, - 237.6 - ], - "grasp_site_at_shut_xyz_m": [ - 0.6438, - -0.2272, - 0.7955 - ], - "grasp_site_at_shut_uv": [ - 517.5, - 228.9 - ], - "shut_in_top_view": true, - "close_onset_frame": 8, - "close_done_frame": 20, - "path_len_cm": 12.5, - "path_uv_every_3_frames": [ - [ - 520.2, - 228.1 - ], - [ - 514.5, - 220.7 - ], - [ - 512.5, - 220.6 - ], - [ - 514.5, - 229.2 - ], - [ - 510.1, - 227.6 - ], - [ - 510.9, - 228.4 - ], - [ - 515.2, - 229.5 - ], - [ - 517.5, - 228.9 - ], - [ - 517.5, - 228.9 - ], - [ - 517.5, - 228.9 - ], - [ - 517.5, - 228.9 - ], - [ - 517.5, - 228.9 - ], - [ - 517.5, - 228.9 - ], - [ - 517.5, - 228.9 - ], - [ - 517.5, - 228.9 - ], - [ - 517.5, - 228.9 - ], - [ - 517.5, - 228.9 - ], - [ - 517.5, - 228.9 - ], - [ - 517.5, - 228.9 - 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-0.78731, - 0.23016, - 0.16007, - 0.46746 - ] - ], - "state_t": [ - -0.60826, - 1.50587, - 1.56386, - -0.16461, - 0.11463, - -0.02956, - 0.99711, - -0.33551, - 1.15454, - 1.01415, - -0.9062, - 0.28286, - 0.34504, - 0.99662 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +4.8 cm forward, -3.4 cm to the robot's left and -9.7 cm up from where it is now (path length 24.0 cm); in the top camera that is -8 px right and +1 px down. Gripper command: now 1.00 open; starts closing at +1.53 s and is shut (0.47) at +2.47 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5041, - -0.448, - 0.9252 - ], - "grasp_site_now_uv": [ - 522.3, - 259.5 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5521, - -0.482, - 0.8287 - ], - "grasp_site_at_shut_uv": [ - 514.3, - 260.8 - ], - "shut_in_top_view": true, - "close_onset_frame": 46, - "close_done_frame": 74, - "path_len_cm": 24.0, - "path_uv_every_3_frames": [ - [ - 521.2, - 255.8 - ], - [ - 522.0, - 257.3 - ], - [ - 524.6, - 259.4 - ], - [ - 524.4, - 260.7 - ], - [ - 522.1, - 262.4 - ], - [ - 521.4, - 263.5 - ], - [ - 521.1, - 262.5 - ], - [ - 521.3, - 260.9 - ], - [ - 520.2, - 260.7 - ], - [ - 519.2, - 263.4 - ], - [ - 518.2, - 265.2 - ], - [ - 515.3, - 266.2 - ], - [ - 512.8, - 267.4 - ], - [ - 510.6, - 269.0 - ], - [ - 508.8, - 271.0 - ], - [ - 507.3, - 272.5 - ], - [ - 505.4, - 273.2 - ], - [ - 503.2, - 274.2 - ], - [ - 501.2, - 274.8 - 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By the time the jaws shut, the gripper site has moved -0.1 cm forward, -0.5 cm to the robot's left and +4.2 cm up from where it is now (path length 0.9 cm); in the top camera that is -1 px right and -12 px down. Gripper command: now 0.80 open; starts closing at +0.07 s and is shut (0.05) at +0.47 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.7628, - 0.2142, - 0.9183 - ], - "grasp_site_now_uv": [ - 231.8, - 157.5 - ], - "grasp_site_at_shut_xyz_m": [ - 0.7616, - 0.2095, - 0.9607 - ], - "grasp_site_at_shut_uv": [ - 230.5, - 145.5 - ], - "shut_in_top_view": true, - "close_onset_frame": 2, - "close_done_frame": 14, - "path_len_cm": 0.9, - "path_uv_every_3_frames": [ - [ - 229.8, - 144.9 - ], - [ - 229.8, - 144.9 - ], - [ - 229.9, - 145.3 - ], - [ - 230.5, - 145.5 - ], - [ - 230.5, - 145.5 - ], - [ - 230.5, - 145.5 - ], - [ - 230.5, - 145.5 - ], - [ - 230.5, - 145.5 - ], - [ - 230.5, - 145.5 - ], - [ - 230.5, - 145.5 - ], - [ - 230.5, - 145.5 - ], - [ - 230.5, - 145.5 - ], - [ - 230.5, - 145.5 - ], - [ - 230.5, - 145.5 - ], - [ - 230.5, - 145.5 - ], - [ - 230.5, - 145.5 - ], - [ - 230.5, - 145.5 - ], - [ - 230.5, - 145.5 - ], - [ - 230.5, - 145.5 - ], - 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By the time the jaws shut, the gripper site has moved +2.0 cm forward, -18.6 cm to the robot's left and +4.6 cm up from where it is now (path length 65.9 cm); in the top camera that is +84 px right and -19 px down. Gripper command: now 0.96 open; starts closing at +1.27 s and is shut (0.00) at +3.57 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.526, - 0.1999, - 0.9617 - ], - "grasp_site_now_uv": [ - 226.4, - 236.6 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5464, - 0.0134, - 1.0074 - ], - "grasp_site_at_shut_uv": [ - 310.9, - 217.3 - ], - "shut_in_top_view": true, - "close_onset_frame": 38, - "close_done_frame": 107, - "path_len_cm": 65.9, - "path_uv_every_3_frames": [ - [ - 226.9, - 235.6 - ], - [ - 227.0, - 236.0 - ], - [ - 226.4, - 236.6 - ], - [ - 224.7, - 237.4 - ], - [ - 220.9, - 237.1 - ], - [ - 213.3, - 232.4 - ], - [ - 205.3, - 226.9 - ], - [ - 204.3, - 223.9 - ], - [ - 201.6, - 221.3 - ], - [ - 201.5, - 219.4 - ], - [ - 203.6, - 219.1 - ], - [ - 205.7, - 219.7 - ], - [ - 207.9, - 219.9 - ], - [ - 211.1, - 222.5 - ], - [ - 211.4, - 225.9 - ], - [ - 212.1, - 229.4 - ], - [ - 212.8, - 232.4 - ], - [ - 212.1, - 234.5 - ], - [ - 212.4, - 235.8 - 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By the time the jaws shut, the gripper site has moved -1.5 cm forward, -3.0 cm to the robot's left and -1.1 cm up from where it is now (path length 9.9 cm); in the top camera that is +14 px right and +9 px down. Gripper command: now 0.72 open; starts closing at +0.13 s and is shut (0.10) at +2.17 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4918, - 0.0926, - 0.9593 - ], - "grasp_site_now_uv": [ - 284.4, - 251.5 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4767, - 0.0631, - 0.9482 - ], - "grasp_site_at_shut_uv": [ - 298.0, - 260.1 - ], - "shut_in_top_view": true, - "close_onset_frame": 4, - "close_done_frame": 65, - "path_len_cm": 9.9, - "path_uv_every_3_frames": [ - [ - 285.4, - 249.3 - ], - [ - 288.4, - 249.4 - ], - [ - 290.4, - 249.8 - ], - [ - 290.8, - 250.0 - ], - [ - 291.9, - 251.7 - ], - [ - 291.5, - 253.7 - ], - [ - 291.0, - 254.6 - ], - [ - 289.7, - 253.6 - ], - [ - 290.4, - 251.9 - ], - [ - 291.6, - 250.7 - ], - [ - 292.3, - 251.0 - ], - [ - 293.9, - 252.8 - ], - [ - 295.5, - 256.7 - ], - [ - 295.6, - 259.4 - ], - [ - 296.2, - 260.2 - ], - [ - 297.4, - 260.2 - ], - [ - 298.5, - 260.1 - ], - [ - 298.3, - 260.4 - ], - [ - 297.7, - 260.8 - ], - 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By the time the jaws shut, the gripper site has moved +0.7 cm forward, -1.9 cm to the robot's left and -14.3 cm up from where it is now (path length 18.8 cm); in the top camera that is +2 px right and +18 px down. Gripper command: now 0.65 open; starts closing at +0.27 s and is shut (0.05) at +1.53 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5868, - -0.0895, - 0.8608 - ], - "grasp_site_now_uv": [ - 351.3, - 234.9 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5942, - -0.109, - 0.7174 - ], - "grasp_site_at_shut_uv": [ - 353.6, - 252.4 - ], - "shut_in_top_view": true, - "close_onset_frame": 8, - "close_done_frame": 46, - "path_len_cm": 18.8, - "path_uv_every_3_frames": [ - [ - 349.2, - 226.8 - ], - [ - 348.6, - 224.8 - ], - [ - 348.4, - 223.2 - ], - [ - 347.4, - 223.0 - ], - [ - 347.4, - 224.6 - ], - [ - 347.7, - 227.0 - ], - [ - 348.0, - 229.4 - ], - [ - 348.5, - 231.9 - ], - [ - 348.8, - 234.4 - ], - [ - 349.6, - 237.3 - ], - [ - 350.0, - 239.2 - ], - [ - 350.3, - 241.4 - ], - [ - 350.9, - 244.0 - ], - [ - 351.7, - 246.9 - ], - [ - 352.4, - 249.1 - ], - [ - 353.5, - 251.7 - ], - [ - 353.6, - 252.4 - ], - [ - 353.6, - 252.4 - ], - [ - 353.6, - 252.4 - 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By the time the jaws shut, the gripper site has moved -14.1 cm forward, -3.4 cm to the robot's left and -2.4 cm up from where it is now (path length 15.8 cm); in the top camera that is +20 px right and +88 px down. Gripper command: now 0.99 open; starts closing at +0.13 s and is shut (0.00) at +2.13 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5168, - 0.066, - 1.1879 - ], - "grasp_site_now_uv": [ - 272.5, - 166.6 - ], - "grasp_site_at_shut_xyz_m": [ - 0.3763, - 0.0324, - 1.1637 - ], - "grasp_site_at_shut_uv": [ - 292.7, - 254.8 - ], - "shut_in_top_view": true, - "close_onset_frame": 4, - "close_done_frame": 64, - "path_len_cm": 15.8, - "path_uv_every_3_frames": [ - [ - 261.5, - 205.0 - ], - [ - 256.1, - 221.7 - ], - [ - 257.1, - 234.7 - ], - [ - 260.3, - 240.7 - ], - [ - 262.8, - 237.1 - ], - [ - 267.0, - 233.6 - ], - [ - 272.7, - 236.0 - ], - [ - 277.7, - 242.3 - ], - [ - 280.9, - 245.6 - ], - [ - 283.8, - 244.7 - ], - [ - 286.6, - 242.2 - ], - [ - 289.6, - 242.2 - ], - [ - 292.1, - 244.0 - ], - [ - 293.7, - 246.3 - ], - [ - 293.3, - 247.7 - ], - [ - 292.3, - 249.8 - ], - [ - 291.2, - 252.1 - ], - [ - 291.4, - 252.9 - ], - [ - 291.7, - 254.0 - ], - 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0.0 - ], - [ - -0.82988, - 0.63047, - 0.98808, - -0.82672, - -0.72241, - -0.9678, - 0.99803, - 1.25019, - 1.57822, - 1.07957, - -0.13499, - 0.42042, - -0.04427, - 0.0 - ], - [ - -0.82988, - 0.63047, - 0.98808, - -0.82672, - -0.72241, - -0.9678, - 0.99803, - 1.25019, - 1.57822, - 1.07957, - -0.13499, - 0.42042, - -0.04427, - 0.0 - ] - ], - "state_t": [ - -0.82532, - 0.72995, - 1.06146, - -0.76238, - -0.60292, - -0.85813, - 0.99668, - 1.24723, - 1.6722, - 1.00042, - -0.21992, - 0.20848, - 0.07649, - 0.99955 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +3.9 cm forward, +1.2 cm to the robot's left and +9.4 cm up from where it is now (path length 10.0 cm); in the top camera that is -9 px right and -36 px down. Gripper command: now 1.00 open; starts closing at +0.00 s and is shut (0.00) at +0.73 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4216, - 0.0834, - 0.8341 - ], - "grasp_site_now_uv": [ - 283.6, - 307.4 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4603, - 0.0957, - 0.9278 - ], - "grasp_site_at_shut_uv": [ - 274.5, - 271.8 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 22, - "path_len_cm": 10.0, - "path_uv_every_3_frames": [ - [ - 286.6, - 297.5 - ], - [ - 285.4, - 296.1 - ], - [ - 284.8, - 294.5 - ], - [ - 285.8, - 292.2 - ], - [ - 284.8, - 288.4 - ], - [ - 284.4, - 284.7 - ], - [ - 283.2, - 278.7 - ], - [ - 279.3, - 273.3 - ], - [ - 274.5, - 271.8 - ], - [ - 274.5, - 271.8 - ], - [ - 274.5, - 271.8 - ], - [ - 274.5, - 271.8 - ], - [ - 274.5, - 271.8 - ], - [ - 274.5, - 271.8 - ], - [ - 274.5, - 271.8 - ], - [ - 274.5, - 271.8 - ], - [ - 274.5, - 271.8 - ], - [ - 274.5, - 271.8 - ], - [ - 274.5, - 271.8 - 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By the time the jaws shut, the gripper site has moved +0.2 cm forward, +1.3 cm to the robot's left and +0.2 cm up from where it is now (path length 4.6 cm); in the top camera that is -6 px right and -1 px down. Gripper command: now 0.88 open; starts closing at +0.00 s and is shut (0.23) at +0.80 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.758, - -0.2512, - 1.0678 - ], - "grasp_site_now_uv": [ - 449.3, - 115.4 - ], - "grasp_site_at_shut_xyz_m": [ - 0.7601, - -0.2379, - 1.0697 - ], - "grasp_site_at_shut_uv": [ - 442.9, - 114.0 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 24, - "path_len_cm": 4.6, - "path_uv_every_3_frames": [ - [ - 454.2, - 116.4 - ], - [ - 453.4, - 118.1 - ], - [ - 452.4, - 119.7 - ], - [ - 452.0, - 119.5 - ], - [ - 451.0, - 119.5 - ], - [ - 448.0, - 120.0 - ], - [ - 445.3, - 116.4 - ], - [ - 443.1, - 114.2 - ], - [ - 442.9, - 114.0 - ], - [ - 442.9, - 114.0 - ], - [ - 442.9, - 114.0 - ], - [ - 442.9, - 114.0 - ], - [ - 442.9, - 114.0 - ], - [ - 442.9, - 114.0 - ], - [ - 442.9, - 114.0 - ], - [ - 442.9, - 114.0 - ], - [ - 442.9, - 114.0 - ], - [ - 442.9, - 114.0 - ], - [ - 442.9, - 114.0 - 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1.36397, - 1.08587, - 0.29622, - 0.5045, - -0.07153, - 0.97053 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -7.4 cm forward, -0.3 cm to the robot's left and +6.1 cm up from where it is now (path length 11.1 cm); in the top camera that is -4 px right and +15 px down. Gripper command: now 0.99 open; starts closing at +0.17 s and is shut (0.01) at +1.17 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4416, - 0.0964, - 1.1168 - ], - "grasp_site_now_uv": [ - 281.9, - 228.1 - ], - "grasp_site_at_shut_xyz_m": [ - 0.3678, - 0.093, - 1.1775 - ], - "grasp_site_at_shut_uv": [ - 277.4, - 243.3 - ], - "shut_in_top_view": true, - "close_onset_frame": 5, - "close_done_frame": 35, - "path_len_cm": 11.1, - "path_uv_every_3_frames": [ - [ - 283.1, - 233.7 - ], - [ - 287.1, - 237.2 - ], - [ - 289.0, - 242.4 - ], - [ - 288.1, - 247.2 - ], - [ - 286.4, - 249.4 - ], - [ - 284.2, - 248.0 - ], - [ - 280.9, - 246.3 - ], - [ - 278.2, - 245.3 - ], - [ - 276.0, - 244.9 - ], - [ - 275.5, - 244.2 - ], - [ - 276.2, - 243.9 - ], - [ - 277.2, - 243.5 - ], - [ - 277.4, - 243.3 - ], - [ - 277.4, - 243.3 - ], - [ - 277.4, - 243.3 - ], - [ - 277.4, - 243.3 - ], - [ - 277.4, - 243.3 - ], - [ - 277.4, - 243.3 - ], - [ - 277.4, - 243.3 - ], - 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By the time the jaws shut, the gripper site has moved -13.9 cm forward, -1.9 cm to the robot's left and -8.8 cm up from where it is now (path length 34.3 cm); in the top camera that is +8 px right and +70 px down. Gripper command: now 1.00 open; starts closing at +1.43 s and is shut (0.30) at +2.87 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5877, - 0.0557, - 0.9421 - ], - "grasp_site_now_uv": [ - 300.6, - 219.4 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4486, - 0.0368, - 0.854 - ], - "grasp_site_at_shut_uv": [ - 308.8, - 289.8 - ], - "shut_in_top_view": true, - "close_onset_frame": 43, - "close_done_frame": 86, - "path_len_cm": 34.3, - "path_uv_every_3_frames": [ - [ - 306.6, - 224.9 - ], - [ - 317.0, - 226.5 - ], - [ - 322.3, - 231.4 - ], - [ - 323.4, - 244.4 - ], - [ - 323.0, - 253.9 - ], - [ - 320.6, - 265.1 - ], - [ - 315.8, - 272.8 - ], - [ - 312.9, - 276.4 - ], - [ - 312.0, - 285.1 - ], - [ - 311.2, - 292.6 - ], - [ - 310.9, - 296.6 - ], - [ - 311.4, - 297.8 - ], - [ - 311.3, - 297.4 - ], - [ - 311.1, - 296.1 - ], - [ - 310.6, - 295.9 - ], - [ - 310.3, - 295.4 - ], - [ - 309.7, - 295.3 - ], - [ - 309.4, - 295.2 - ], - [ - 309.0, - 296.0 - 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By the time the jaws shut, the gripper site has moved -0.5 cm forward, -3.0 cm to the robot's left and +4.5 cm up from where it is now (path length 7.7 cm); in the top camera that is +12 px right and -15 px down. Gripper command: now 0.99 open; starts closing at +0.13 s and is shut (0.42) at +1.03 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.7713, - 0.1398, - 1.0646 - ], - "grasp_site_now_uv": [ - 257.4, - 110.1 - ], - "grasp_site_at_shut_xyz_m": [ - 0.7659, - 0.1095, - 1.1095 - ], - "grasp_site_at_shut_uv": [ - 269.4, - 94.9 - ], - "shut_in_top_view": true, - "close_onset_frame": 4, - "close_done_frame": 31, - "path_len_cm": 7.7, - "path_uv_every_3_frames": [ - [ - 246.8, - 95.5 - ], - [ - 248.2, - 92.7 - ], - [ - 249.2, - 91.9 - ], - [ - 251.7, - 91.7 - ], - [ - 253.5, - 93.5 - ], - [ - 255.8, - 94.5 - ], - [ - 259.3, - 94.3 - ], - [ - 264.2, - 92.6 - ], - [ - 267.2, - 91.8 - ], - [ - 268.8, - 93.1 - ], - [ - 270.0, - 94.7 - ], - [ - 269.4, - 94.9 - ], - [ - 269.4, - 94.9 - ], - [ - 269.4, - 94.9 - ], - [ - 269.4, - 94.9 - ], - [ - 269.4, - 94.9 - ], - [ - 269.4, - 94.9 - ], - [ - 269.4, - 94.9 - ], - [ - 269.4, - 94.9 - ], - [ - 269.4, - 94.9 - 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By the time the jaws shut, the gripper site has moved -6.4 cm forward, +0.6 cm to the robot's left and +2.8 cm up from where it is now (path length 42.5 cm); in the top camera that is +0 px right and +14 px down. Gripper command: now 0.87 open; starts closing at +0.93 s and is shut (0.01) at +1.57 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.7653, - -0.1258, - 0.9297 - ], - "grasp_site_now_uv": [ - 376.8, - 153.3 - ], - "grasp_site_at_shut_xyz_m": [ - 0.7011, - -0.1195, - 0.9578 - ], - "grasp_site_at_shut_uv": [ - 377.2, - 167.0 - ], - "shut_in_top_view": true, - "close_onset_frame": 28, - "close_done_frame": 47, - "path_len_cm": 42.5, - "path_uv_every_3_frames": [ - [ - 378.6, - 138.1 - ], - [ - 391.9, - 134.5 - ], - [ - 403.0, - 133.8 - ], - [ - 406.6, - 141.3 - ], - [ - 409.5, - 153.2 - ], - [ - 409.0, - 164.1 - ], - [ - 407.6, - 172.8 - ], - [ - 407.9, - 181.7 - ], - [ - 407.8, - 188.0 - ], - [ - 404.5, - 194.3 - ], - [ - 399.2, - 196.6 - ], - [ - 392.3, - 193.0 - ], - [ - 381.4, - 182.0 - ], - [ - 364.3, - 170.5 - ], - [ - 355.6, - 165.6 - ], - [ - 370.2, - 163.5 - ], - [ - 377.2, - 167.0 - ], - [ - 377.2, - 167.0 - ], - [ - 377.2, - 167.0 - 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], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +3.5 cm forward, -3.3 cm to the robot's left and -2.2 cm up from where it is now (path length 11.6 cm); in the top camera that is +10 px right and -3 px down. Gripper command: now 0.58 open; starts closing at +0.23 s and is shut (0.00) at +0.87 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.8857, - -0.2504, - 0.9478 - ], - "grasp_site_now_uv": [ - 527.5, - 112.8 - ], - "grasp_site_at_shut_xyz_m": [ - 0.9206, - -0.2837, - 0.9256 - ], - "grasp_site_at_shut_uv": [ - 537.1, - 109.6 - ], - "shut_in_top_view": true, - "close_onset_frame": 7, - "close_done_frame": 26, - "path_len_cm": 11.6, - "path_uv_every_3_frames": [ - [ - 524.3, - 106.7 - ], - [ - 523.0, - 109.1 - ], - [ - 521.8, - 112.6 - ], - [ - 520.7, - 114.5 - ], - [ - 518.9, - 112.6 - ], - [ - 518.2, - 112.8 - ], - [ - 520.7, - 111.5 - ], - [ - 527.0, - 110.9 - ], - [ - 534.1, - 109.9 - ], - [ - 537.1, - 109.6 - ], - [ - 537.1, - 109.6 - ], - [ - 537.1, - 109.6 - ], - [ - 537.1, - 109.6 - ], - [ - 537.1, - 109.6 - ], - [ - 537.1, - 109.6 - ], - [ - 537.1, - 109.6 - ], - [ - 537.1, - 109.6 - ], - [ - 537.1, - 109.6 - ], - [ - 537.1, - 109.6 - 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0.07125 - ], - [ - -1.10906, - 0.43162, - 0.75929, - -0.44498, - -0.50371, - -0.61285, - 0.9853, - 0.31945, - 1.68779, - 0.80319, - 0.2439, - 0.32375, - 0.54541, - 0.07125 - ], - [ - -1.10906, - 0.43162, - 0.75929, - -0.44498, - -0.50371, - -0.61285, - 0.9853, - 0.31945, - 1.68779, - 0.80319, - 0.2439, - 0.32375, - 0.54541, - 0.07125 - ] - ], - "state_t": [ - -1.11868, - 0.45796, - 0.74369, - -0.3996, - -0.48352, - -0.62734, - 0.98381, - 0.32635, - 1.70462, - 0.83143, - 0.25082, - 0.12684, - 0.71698, - 0.75016 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -0.3 cm forward, -3.9 cm to the robot's left and -0.1 cm up from where it is now (path length 9.9 cm); in the top camera that is +16 px right and +1 px down. Gripper command: now 0.85 open; starts closing at +0.13 s and is shut (0.07) at +1.10 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.6911, - -0.1843, - 0.835 - ], - "grasp_site_now_uv": [ - 398.6, - 202.8 - ], - "grasp_site_at_shut_xyz_m": [ - 0.6882, - -0.2229, - 0.8341 - ], - "grasp_site_at_shut_uv": [ - 414.5, - 204.0 - ], - "shut_in_top_view": true, - "close_onset_frame": 4, - "close_done_frame": 33, - "path_len_cm": 9.9, - "path_uv_every_3_frames": [ - [ - 400.2, - 200.7 - ], - [ - 400.2, - 202.2 - ], - [ - 400.9, - 202.5 - ], - [ - 402.8, - 200.0 - ], - [ - 401.9, - 199.3 - ], - [ - 400.7, - 200.5 - ], - [ - 402.0, - 202.2 - ], - [ - 404.1, - 203.3 - ], - [ - 406.3, - 203.5 - ], - [ - 409.3, - 203.1 - ], - [ - 412.5, - 203.7 - ], - [ - 414.5, - 204.0 - ], - [ - 414.5, - 204.0 - ], - [ - 414.5, - 204.0 - ], - [ - 414.5, - 204.0 - ], - [ - 414.5, - 204.0 - ], - [ - 414.5, - 204.0 - ], - [ - 414.5, - 204.0 - ], - [ - 414.5, - 204.0 - 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By the time the jaws shut, the gripper site has moved -5.0 cm forward, +11.1 cm to the robot's left and +8.0 cm up from where it is now (path length 28.0 cm); in the top camera that is -38 px right and +5 px down. Gripper command: now 1.00 open; starts closing at +1.10 s and is shut (0.00) at +2.63 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4623, - -0.0499, - 0.8621 - ], - "grasp_site_now_uv": [ - 340.9, - 268.8 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4125, - 0.0608, - 0.9416 - ], - "grasp_site_at_shut_uv": [ - 303.1, - 273.9 - ], - "shut_in_top_view": true, - "close_onset_frame": 33, - "close_done_frame": 79, - "path_len_cm": 28.0, - "path_uv_every_3_frames": [ - [ - 344.2, - 266.4 - ], - [ - 344.9, - 265.8 - ], - [ - 344.6, - 264.9 - ], - [ - 342.9, - 264.3 - ], - [ - 341.3, - 263.7 - ], - [ - 341.2, - 263.2 - ], - [ - 341.0, - 263.6 - ], - [ - 338.8, - 265.3 - ], - [ - 333.3, - 268.2 - ], - [ - 327.5, - 272.0 - ], - [ - 322.2, - 274.7 - ], - [ - 316.6, - 276.2 - ], - [ - 310.9, - 277.5 - ], - [ - 305.7, - 277.5 - ], - [ - 302.8, - 277.9 - ], - [ - 301.5, - 277.8 - ], - [ - 300.1, - 277.0 - ], - [ - 299.4, - 275.0 - ], - [ - 299.9, - 272.3 - 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By the time the jaws shut, the gripper site has moved +9.8 cm forward, -2.9 cm to the robot's left and +6.9 cm up from where it is now (path length 42.6 cm); in the top camera that is +16 px right and -54 px down. Gripper command: now 1.00 open; starts closing at +1.60 s and is shut (0.40) at +3.53 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4006, - -0.5927, - 0.8113 - ], - "grasp_site_now_uv": [ - 595.6, - 320.4 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4986, - -0.6214, - 0.8802 - ], - "grasp_site_at_shut_uv": [ - 612.1, - 266.1 - ], - "shut_in_top_view": true, - "close_onset_frame": 48, - "close_done_frame": 106, - "path_len_cm": 42.6, - "path_uv_every_3_frames": [ - [ - 623.0, - 310.6 - ], - [ - 620.8, - 308.8 - ], - [ - 615.5, - 303.4 - ], - [ - 609.1, - 298.0 - ], - [ - 618.6, - 290.9 - ], - [ - 621.2, - 289.9 - ], - [ - 626.0, - 287.9 - ], - [ - 630.0, - 287.8 - ], - [ - 635.1, - 288.9 - ], - [ - 635.2, - 289.5 - ], - [ - 638.2, - 288.8 - ], - [ - 631.9, - 288.5 - ], - [ - 625.3, - 289.5 - ], - [ - 627.4, - 291.3 - ], - [ - 627.0, - 292.0 - ], - [ - 629.0, - 293.7 - ], - [ - 629.7, - 297.9 - ], - [ - 629.1, - 300.2 - ], - [ - 628.9, - 300.1 - 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By the time the jaws shut, the gripper site has moved +3.3 cm forward, +0.4 cm to the robot's left and -3.5 cm up from where it is now (path length 8.8 cm); in the top camera that is -6 px right and -0 px down. Gripper command: now 0.92 open; starts closing at +0.27 s and is shut (0.50) at +1.37 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.654, - -0.1206, - 1.099 - ], - "grasp_site_now_uv": [ - 489.8, - 139.8 - ], - "grasp_site_at_shut_xyz_m": [ - 0.6872, - -0.1166, - 1.0638 - ], - "grasp_site_at_shut_uv": [ - 484.3, - 139.8 - ], - "shut_in_top_view": true, - "close_onset_frame": 8, - "close_done_frame": 41, - "path_len_cm": 8.8, - "path_uv_every_3_frames": [ - [ - 494.5, - 141.0 - ], - [ - 491.7, - 141.0 - ], - [ - 489.9, - 143.2 - ], - [ - 489.4, - 144.0 - ], - [ - 487.3, - 143.9 - ], - [ - 485.3, - 144.7 - ], - [ - 484.4, - 146.1 - ], - [ - 483.7, - 147.1 - ], - [ - 484.2, - 146.5 - ], - [ - 485.0, - 145.3 - ], - [ - 485.4, - 143.7 - ], - [ - 486.5, - 142.3 - ], - [ - 485.4, - 141.5 - ], - [ - 484.3, - 140.2 - ], - [ - 484.3, - 139.8 - ], - [ - 484.3, - 139.8 - ], - [ - 484.3, - 139.8 - ], - [ - 484.3, - 139.8 - ], - [ - 484.3, - 139.8 - ], - 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], - [ - 0.42468, - 1.04452, - 0.79167, - -0.14427, - 0.52922, - -0.5322, - 0.0, - 0.91272, - 0.89436, - 0.69029, - 0.2148, - -0.043, - 0.30064, - 0.18198 - ], - [ - 0.42468, - 1.04452, - 0.79167, - -0.14427, - 0.52922, - -0.5322, - 0.0, - 0.91272, - 0.89436, - 0.69029, - 0.2148, - -0.043, - 0.30064, - 0.18198 - ], - [ - 0.42468, - 1.04452, - 0.79167, - -0.14427, - 0.52922, - -0.5322, - 0.0, - 0.91272, - 0.89436, - 0.69029, - 0.2148, - -0.043, - 0.30064, - 0.18198 - ], - [ - 0.42468, - 1.04452, - 0.79167, - -0.14427, - 0.52922, - -0.5322, - 0.0, - 0.91272, - 0.89436, - 0.69029, - 0.2148, - -0.043, - 0.30064, - 0.18198 - ] - ], - "state_t": [ - 0.20352, - 0.51747, - 0.78412, - 0.10815, - 0.52205, - -0.34771, - 0.9889, - 0.89704, - 0.96571, - 0.67197, - 0.19932, - -0.13561, - 0.33703, - 0.99398 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +0.0 cm forward, -1.6 cm to the robot's left and +3.7 cm up from where it is now (path length 2.8 cm); in the top camera that is +10 px right and -11 px down. Gripper command: now 1.00 open; starts closing at +0.07 s and is shut (0.18) at +0.60 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4611, - -0.0119, - 1.0448 - ], - "grasp_site_now_uv": [ - 329.7, - 242.3 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4612, - -0.0281, - 1.0816 - ], - "grasp_site_at_shut_uv": [ - 339.7, - 231.4 - ], - "shut_in_top_view": true, - "close_onset_frame": 2, - "close_done_frame": 18, - "path_len_cm": 2.8, - "path_uv_every_3_frames": [ - [ - 327.1, - 235.1 - ], - [ - 326.9, - 235.5 - ], - [ - 327.5, - 235.7 - ], - [ - 330.0, - 234.6 - ], - [ - 333.5, - 233.8 - ], - [ - 336.6, - 232.8 - ], - [ - 339.7, - 231.4 - ], - [ - 339.7, - 231.4 - ], - [ - 339.7, - 231.4 - ], - [ - 339.7, - 231.4 - ], - [ - 339.7, - 231.4 - ], - [ - 339.7, - 231.4 - ], - [ - 339.7, - 231.4 - ], - [ - 339.7, - 231.4 - ], - [ - 339.7, - 231.4 - ], - [ - 339.7, - 231.4 - ], - [ - 339.7, - 231.4 - ], - [ - 339.7, - 231.4 - ], - [ - 339.7, - 231.4 - 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"plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -3.6 cm forward, +9.1 cm to the robot's left and -9.8 cm up from where it is now (path length 34.6 cm); in the top camera that is -45 px right and +36 px down. Gripper command: now 0.79 open; starts closing at +0.20 s and is shut (0.03) at +2.13 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5944, - -0.2368, - 0.9892 - ], - "grasp_site_now_uv": [ - 427.5, - 205.7 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5588, - -0.146, - 0.8908 - ], - "grasp_site_at_shut_uv": [ - 382.4, - 241.5 - ], - "shut_in_top_view": true, - "close_onset_frame": 6, - "close_done_frame": 64, - "path_len_cm": 34.6, - "path_uv_every_3_frames": [ - [ - 448.3, - 208.7 - ], - [ - 461.6, - 219.1 - ], - [ - 464.6, - 223.5 - ], - [ - 468.0, - 230.1 - ], - [ - 468.2, - 235.3 - ], - [ - 464.5, - 238.8 - ], - [ - 460.4, - 241.5 - ], - [ - 458.1, - 242.7 - ], - [ - 457.9, - 241.9 - ], - [ - 455.4, - 242.2 - ], - [ - 453.1, - 242.8 - ], - [ - 450.3, - 243.4 - ], - [ - 446.4, - 245.2 - ], - [ - 442.8, - 244.8 - ], - [ - 436.6, - 245.5 - ], - [ - 429.2, - 245.4 - ], - [ - 422.5, - 244.1 - ], - [ - 415.5, - 243.3 - ], - [ - 407.7, - 243.3 - 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By the time the jaws shut, the gripper site has moved +1.2 cm forward, +2.3 cm to the robot's left and +0.5 cm up from where it is now (path length 21.4 cm); in the top camera that is -10 px right and -6 px down. Gripper command: now 0.79 open; starts closing at +0.97 s and is shut (0.18) at +2.67 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5471, - 0.0913, - 0.8284 - ], - "grasp_site_now_uv": [ - 385.7, - 257.4 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5589, - 0.1143, - 0.8331 - ], - "grasp_site_at_shut_uv": [ - 375.8, - 251.9 - ], - "shut_in_top_view": true, - "close_onset_frame": 29, - "close_done_frame": 80, - "path_len_cm": 21.4, - "path_uv_every_3_frames": [ - [ - 385.3, - 248.6 - ], - [ - 385.6, - 248.4 - ], - [ - 385.3, - 250.8 - ], - [ - 385.5, - 254.3 - ], - [ - 387.9, - 255.5 - ], - [ - 389.1, - 256.3 - ], - [ - 389.1, - 256.6 - ], - [ - 386.9, - 255.2 - ], - [ - 381.2, - 257.4 - ], - [ - 376.4, - 257.4 - ], - [ - 370.0, - 258.6 - ], - [ - 366.6, - 260.7 - ], - [ - 366.5, - 260.2 - ], - [ - 369.7, - 262.9 - ], - [ - 371.8, - 266.1 - ], - [ - 373.9, - 266.4 - ], - [ - 375.4, - 266.6 - ], - [ - 373.9, - 268.0 - ], - [ - 373.5, - 267.5 - 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"plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +1.1 cm forward, -0.6 cm to the robot's left and -0.5 cm up from where it is now (path length 1.9 cm); in the top camera that is +4 px right and -4 px down. Gripper command: now 0.98 open; starts closing at +0.27 s and is shut (0.41) at +0.87 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4933, - 0.25, - 0.8897 - ], - "grasp_site_now_uv": [ - 190.7, - 267.9 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5048, - 0.2443, - 0.8848 - ], - "grasp_site_at_shut_uv": [ - 194.7, - 264.1 - ], - "shut_in_top_view": true, - "close_onset_frame": 8, - "close_done_frame": 26, - "path_len_cm": 1.9, - "path_uv_every_3_frames": [ - [ - 193.3, - 266.8 - ], - [ - 193.5, - 266.2 - ], - [ - 194.4, - 266.0 - ], - [ - 194.5, - 265.6 - ], - [ - 193.8, - 265.4 - ], - [ - 194.2, - 266.7 - ], - [ - 194.2, - 265.9 - ], - [ - 194.7, - 265.7 - ], - [ - 194.8, - 265.1 - ], - [ - 194.7, - 264.1 - ], - [ - 194.7, - 264.1 - ], - [ - 194.7, - 264.1 - ], - [ - 194.7, - 264.1 - ], - [ - 194.7, - 264.1 - ], - [ - 194.7, - 264.1 - ], - [ - 194.7, - 264.1 - ], - [ - 194.7, - 264.1 - ], - [ - 194.7, - 264.1 - ], - [ - 194.7, - 264.1 - ], - 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By the time the jaws shut, the gripper site has moved +4.7 cm forward, +2.6 cm to the robot's left and +4.1 cm up from where it is now (path length 7.0 cm); in the top camera that is -12 px right and -25 px down. Gripper command: now 0.65 open; starts closing at +0.27 s and is shut (0.10) at +0.77 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.8571, - 0.3997, - 0.8548 - ], - "grasp_site_now_uv": [ - 155.9, - 148.4 - ], - "grasp_site_at_shut_xyz_m": [ - 0.9043, - 0.4259, - 0.8959 - ], - "grasp_site_at_shut_uv": [ - 144.3, - 123.7 - ], - "shut_in_top_view": true, - "close_onset_frame": 8, - "close_done_frame": 23, - "path_len_cm": 7.0, - "path_uv_every_3_frames": [ - [ - 152.6, - 142.7 - ], - [ - 150.2, - 143.5 - ], - [ - 150.2, - 141.5 - ], - [ - 149.0, - 139.7 - ], - [ - 148.9, - 138.0 - ], - [ - 148.5, - 135.0 - ], - [ - 147.3, - 130.5 - ], - [ - 146.0, - 126.6 - ], - [ - 144.3, - 123.7 - ], - [ - 144.3, - 123.7 - ], - [ - 144.3, - 123.7 - ], - [ - 144.3, - 123.7 - ], - [ - 144.3, - 123.7 - ], - [ - 144.3, - 123.7 - ], - [ - 144.3, - 123.7 - ], - [ - 144.3, - 123.7 - ], - [ - 144.3, - 123.7 - ], - [ - 144.3, - 123.7 - ], - [ - 144.3, - 123.7 - ], - 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0.28461 - ], - [ - -0.19027, - 0.80884, - 0.19883, - 0.41088, - 0.92077, - -1.19828, - 0.1114, - 0.78957, - 1.55589, - 0.619, - 0.86273, - -0.97485, - 1.18492, - 0.28461 - ] - ], - "state_t": [ - -0.21763, - 1.09464, - 0.32254, - -0.0433, - 0.72461, - -0.82494, - 0.6025, - 0.78908, - 1.73896, - 0.76505, - 0.35954, - -0.696, - 0.93099, - 0.11985 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -0.8 cm forward, -1.5 cm to the robot's left and +10.5 cm up from where it is now (path length 8.1 cm); in the top camera that is +0 px right and -16 px down. Gripper command: now 0.67 open; starts closing at +0.20 s and is shut (0.11) at +1.07 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4765, - 0.145, - 0.8242 - ], - "grasp_site_now_uv": [ - 258.5, - 281.3 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4688, - 0.1305, - 0.9288 - ], - "grasp_site_at_shut_uv": [ - 258.6, - 265.2 - ], - "shut_in_top_view": true, - "close_onset_frame": 6, - "close_done_frame": 32, - "path_len_cm": 8.1, - "path_uv_every_3_frames": [ - [ - 259.4, - 277.1 - ], - [ - 259.4, - 274.9 - ], - [ - 260.1, - 273.4 - ], - [ - 260.4, - 272.1 - ], - [ - 260.7, - 271.3 - ], - [ - 260.7, - 270.1 - ], - [ - 260.3, - 268.7 - ], - [ - 260.0, - 268.3 - ], - [ - 259.7, - 267.5 - ], - [ - 259.2, - 266.6 - ], - [ - 258.6, - 265.5 - ], - [ - 258.6, - 265.2 - ], - [ - 258.6, - 265.2 - ], - [ - 258.6, - 265.2 - ], - [ - 258.6, - 265.2 - ], - [ - 258.6, - 265.2 - ], - [ - 258.6, - 265.2 - ], - [ - 258.6, - 265.2 - ], - [ - 258.6, - 265.2 - ], - 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], - [ - -0.55089, - 1.82399, - 0.87897, - 0.1986, - 0.40763, - -0.69719, - 0.26129, - 0.57524, - 1.75529, - 1.23793, - -0.6481, - -0.09308, - 0.37422, - 0.25715 - ], - [ - -0.55089, - 1.82399, - 0.87897, - 0.1986, - 0.40763, - -0.69719, - 0.26129, - 0.57524, - 1.75529, - 1.23793, - -0.6481, - -0.09308, - 0.37422, - 0.25715 - ] - ], - "state_t": [ - -0.55905, - 1.7916, - 0.87263, - 0.16728, - 0.40036, - -0.70706, - 0.26223, - 0.58766, - 1.77291, - 1.24914, - -0.65747, - 0.0021, - 0.37747, - 0.66459 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -0.7 cm forward, +0.9 cm to the robot's left and +0.5 cm up from where it is now (path length 5.0 cm); in the top camera that is -3 px right and +1 px down. Gripper command: now 0.67 open; starts closing at +0.13 s and is shut (0.26) at +1.60 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5921, - -0.0842, - 0.8263 - ], - "grasp_site_now_uv": [ - 347.1, - 244.4 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5854, - -0.0753, - 0.8309 - ], - "grasp_site_at_shut_uv": [ - 343.9, - 245.8 - ], - "shut_in_top_view": true, - "close_onset_frame": 4, - "close_done_frame": 48, - "path_len_cm": 5.0, - "path_uv_every_3_frames": [ - [ - 347.4, - 246.7 - ], - [ - 346.8, - 247.5 - ], - [ - 345.1, - 248.8 - ], - [ - 342.8, - 249.9 - ], - [ - 342.0, - 249.8 - ], - [ - 342.8, - 249.0 - ], - [ - 343.5, - 248.4 - ], - [ - 343.4, - 248.0 - ], - [ - 342.6, - 248.1 - ], - [ - 342.2, - 247.4 - ], - [ - 342.2, - 247.4 - ], - [ - 342.4, - 247.4 - ], - [ - 343.0, - 246.9 - ], - [ - 343.7, - 246.3 - ], - [ - 343.9, - 245.9 - ], - [ - 344.1, - 245.9 - ], - [ - 343.9, - 245.8 - ], - [ - 343.9, - 245.8 - ], - [ - 343.9, - 245.8 - 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0.19207, - 1.24418, - 1.17056, - -0.25006, - 0.35115, - -0.5518, - 0.194, - 0.43851, - 1.29301, - 1.10914, - -0.4015, - 0.0555, - 0.49153, - 0.71201 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -4.7 cm forward, -4.3 cm to the robot's left and -6.8 cm up from where it is now (path length 29.0 cm); in the top camera that is +17 px right and +38 px down. Gripper command: now 0.78 open; starts closing at +1.03 s and is shut (0.00) at +1.57 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.621, - -0.1476, - 0.9974 - ], - "grasp_site_now_uv": [ - 395.6, - 185.3 - ], - "grasp_site_at_shut_xyz_m": [ - 0.574, - -0.1902, - 0.929 - ], - "grasp_site_at_shut_uv": [ - 412.9, - 222.9 - ], - "shut_in_top_view": true, - "close_onset_frame": 31, - "close_done_frame": 47, - "path_len_cm": 29.0, - "path_uv_every_3_frames": [ - [ - 402.4, - 178.2 - ], - [ - 412.5, - 180.0 - ], - [ - 427.2, - 189.2 - ], - [ - 428.2, - 202.4 - ], - [ - 432.5, - 207.7 - ], - [ - 435.5, - 217.4 - ], - [ - 433.3, - 230.3 - ], - [ - 427.1, - 244.9 - ], - [ - 426.3, - 250.0 - ], - [ - 424.5, - 246.1 - ], - [ - 420.0, - 242.3 - ], - [ - 417.0, - 238.3 - ], - [ - 413.4, - 235.3 - ], - [ - 412.3, - 232.4 - ], - [ - 413.3, - 227.3 - ], - [ - 414.4, - 222.8 - ], - [ - 412.9, - 222.9 - ], - [ - 412.9, - 222.9 - ], - [ - 412.9, - 222.9 - 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By the time the jaws shut, the gripper site has moved -6.1 cm forward, -7.3 cm to the robot's left and -16.1 cm up from where it is now (path length 25.4 cm); in the top camera that is +44 px right and +72 px down. Gripper command: now 1.00 open; starts closing at +0.97 s and is shut (0.02) at +2.63 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5968, - 0.1444, - 1.0747 - ], - "grasp_site_now_uv": [ - 241.9, - 169.5 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5357, - 0.0715, - 0.9134 - ], - "grasp_site_at_shut_uv": [ - 285.9, - 241.2 - ], - "shut_in_top_view": true, - "close_onset_frame": 29, - "close_done_frame": 79, - "path_len_cm": 25.4, - "path_uv_every_3_frames": [ - [ - 240.7, - 166.9 - ], - [ - 241.2, - 166.9 - ], - [ - 241.3, - 167.4 - ], - [ - 241.5, - 167.4 - ], - [ - 241.4, - 167.1 - ], - [ - 243.4, - 168.2 - ], - [ - 248.1, - 174.3 - ], - [ - 257.5, - 187.9 - ], - [ - 262.5, - 200.5 - ], - [ - 264.9, - 207.9 - ], - [ - 266.6, - 212.9 - ], - [ - 269.1, - 218.6 - ], - [ - 271.6, - 222.6 - ], - [ - 274.4, - 223.8 - ], - [ - 276.9, - 224.5 - ], - [ - 279.6, - 224.7 - ], - [ - 282.5, - 225.0 - ], - [ - 285.4, - 224.6 - ], - [ - 287.2, - 224.3 - 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1.30062, - 1.06073, - -0.3032, - -0.60789, - -0.3693, - 0.13113 - ], - [ - -0.60113, - 1.06721, - 0.54875, - 0.33901, - 0.85045, - 0.09149, - 0.40399, - 0.62279, - 1.30062, - 1.06073, - -0.3032, - -0.60789, - -0.3693, - 0.13113 - ], - [ - -0.60113, - 1.06721, - 0.54875, - 0.33901, - 0.85045, - 0.09149, - 0.40399, - 0.62279, - 1.30062, - 1.06073, - -0.3032, - -0.60789, - -0.3693, - 0.13113 - ] - ], - "state_t": [ - -0.58194, - 0.98478, - 0.45911, - 0.53502, - 0.78527, - 0.00744, - 0.21156, - 0.63802, - 1.1614, - 0.92679, - -0.08145, - -0.5705, - -0.26875, - 0.79824 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +1.0 cm forward, +0.7 cm to the robot's left and -3.2 cm up from where it is now (path length 6.2 cm); in the top camera that is -4 px right and +4 px down. Gripper command: now 0.79 open; starts closing at +0.00 s and is shut (0.13) at +1.37 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4978, - -0.0138, - 1.0401 - ], - "grasp_site_now_uv": [ - 333.2, - 231.1 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5083, - -0.0068, - 1.0081 - ], - "grasp_site_at_shut_uv": [ - 329.5, - 234.9 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 41, - "path_len_cm": 6.2, - "path_uv_every_3_frames": [ - [ - 331.5, - 228.7 - ], - [ - 330.8, - 226.4 - ], - [ - 330.6, - 226.3 - ], - [ - 330.0, - 228.5 - ], - [ - 328.9, - 230.4 - ], - [ - 327.4, - 233.0 - ], - [ - 326.8, - 233.8 - ], - [ - 327.3, - 234.0 - ], - [ - 328.3, - 233.1 - ], - [ - 329.6, - 232.9 - ], - [ - 330.5, - 232.8 - ], - [ - 331.1, - 233.1 - ], - [ - 330.7, - 233.8 - ], - [ - 329.8, - 234.7 - ], - [ - 329.5, - 234.9 - ], - [ - 329.5, - 234.9 - ], - [ - 329.5, - 234.9 - ], - [ - 329.5, - 234.9 - ], - [ - 329.5, - 234.9 - 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1.0, - 0.79153, - 1.86236, - 1.30388, - -0.57984, - 0.19021, - 0.26078, - 0.0 - ] - ], - "state_t": [ - -0.61437, - 2.46109, - 2.26005, - -0.8444, - -0.14515, - 0.27981, - 0.99811, - 0.2882, - 1.43568, - 1.37694, - -0.68189, - 0.05207, - 0.52968, - 0.99637 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -6.8 cm forward, +17.9 cm to the robot's left and -18.7 cm up from where it is now (path length 64.0 cm); in the top camera that is -89 px right and +74 px down. Gripper command: now 1.00 open; starts closing at +1.77 s and is shut (0.00) at +3.40 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.6505, - -0.2013, - 1.0066 - ], - "grasp_site_now_uv": [ - 408.8, - 173.5 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5821, - -0.0221, - 0.8192 - ], - "grasp_site_at_shut_uv": [ - 319.6, - 247.5 - ], - "shut_in_top_view": true, - "close_onset_frame": 53, - "close_done_frame": 102, - "path_len_cm": 64.0, - "path_uv_every_3_frames": [ - [ - 411.8, - 173.3 - ], - [ - 414.2, - 172.2 - ], - [ - 417.3, - 169.4 - ], - [ - 417.1, - 175.5 - ], - [ - 419.0, - 181.9 - ], - [ - 423.9, - 188.0 - ], - [ - 428.6, - 191.8 - ], - [ - 439.6, - 199.1 - ], - [ - 445.2, - 205.7 - ], - [ - 458.0, - 208.1 - ], - [ - 464.6, - 211.4 - ], - [ - 470.0, - 214.6 - ], - [ - 473.7, - 217.8 - ], - [ - 474.7, - 220.8 - ], - [ - 475.0, - 222.0 - ], - [ - 472.7, - 222.4 - ], - [ - 468.2, - 220.7 - ], - [ - 447.5, - 219.2 - ], - [ - 420.2, - 223.6 - 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By the time the jaws shut, the gripper site has moved -0.1 cm forward, +0.7 cm to the robot's left and -2.7 cm up from where it is now (path length 9.4 cm); in the top camera that is -0 px right and +6 px down. Gripper command: now 0.61 open; starts closing at +0.13 s and is shut (0.10) at +0.93 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.6259, - 0.328, - 0.7948 - ], - "grasp_site_now_uv": [ - 188.7, - 234.2 - ], - "grasp_site_at_shut_xyz_m": [ - 0.6252, - 0.3355, - 0.7679 - ], - "grasp_site_at_shut_uv": [ - 188.5, - 239.9 - ], - "shut_in_top_view": true, - "close_onset_frame": 4, - "close_done_frame": 28, - "path_len_cm": 9.4, - "path_uv_every_3_frames": [ - [ - 188.8, - 225.9 - ], - [ - 188.9, - 224.2 - ], - [ - 191.5, - 227.8 - ], - [ - 192.2, - 232.1 - ], - [ - 190.8, - 234.3 - ], - [ - 191.2, - 236.8 - ], - [ - 190.9, - 238.8 - ], - [ - 189.1, - 239.7 - ], - [ - 188.7, - 239.8 - ], - [ - 188.6, - 240.1 - ], - [ - 188.5, - 239.9 - ], - [ - 188.5, - 239.9 - ], - [ - 188.5, - 239.9 - ], - [ - 188.5, - 239.9 - ], - [ - 188.5, - 239.9 - ], - [ - 188.5, - 239.9 - ], - [ - 188.5, - 239.9 - ], - [ - 188.5, - 239.9 - ], - [ - 188.5, - 239.9 - ], - 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0.35792, - 0.43105, - 1.4542, - 0.73478, - 0.586, - -0.37583, - 0.73324, - 0.86847 - ], - [ - -0.0721, - 1.52016, - 1.09066, - 0.17794, - -0.32669, - -0.18254, - 0.35792, - 0.43105, - 1.4542, - 0.73478, - 0.586, - -0.37583, - 0.73324, - 0.86847 - ] - ], - "state_t": [ - -0.07992, - 1.55356, - 0.98554, - 0.22755, - -0.35573, - -0.16766, - 0.99319, - 0.43431, - 1.43645, - 0.70706, - 0.5602, - -0.34733, - 0.75132, - 0.86619 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +0.7 cm forward, -0.1 cm to the robot's left and +5.3 cm up from where it is now (path length 12.8 cm); in the top camera that is -6 px right and -19 px down. Gripper command: now 1.00 open; starts closing at +0.23 s and is shut (0.36) at +1.87 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.7299, - 0.3312, - 0.9688 - ], - "grasp_site_now_uv": [ - 171.3, - 153.1 - ], - "grasp_site_at_shut_xyz_m": [ - 0.7372, - 0.3297, - 1.0217 - ], - "grasp_site_at_shut_uv": [ - 165.3, - 134.0 - ], - "shut_in_top_view": true, - "close_onset_frame": 7, - "close_done_frame": 56, - "path_len_cm": 12.8, - "path_uv_every_3_frames": [ - [ - 168.7, - 137.8 - ], - [ - 170.3, - 137.3 - ], - [ - 167.3, - 138.0 - ], - [ - 165.4, - 145.4 - ], - [ - 164.4, - 150.8 - ], - [ - 166.2, - 155.1 - ], - [ - 168.4, - 152.6 - ], - [ - 170.2, - 151.3 - ], - [ - 170.9, - 149.8 - ], - [ - 170.9, - 147.2 - ], - [ - 170.7, - 145.5 - ], - [ - 171.0, - 143.3 - ], - [ - 171.3, - 142.0 - ], - [ - 171.1, - 138.7 - ], - [ - 171.1, - 136.0 - ], - [ - 170.6, - 134.2 - ], - [ - 170.1, - 132.6 - ], - [ - 169.3, - 132.4 - ], - [ - 166.4, - 133.7 - 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By the time the jaws shut, the gripper site has moved -2.9 cm forward, +1.7 cm to the robot's left and +1.8 cm up from where it is now (path length 20.9 cm); in the top camera that is -1 px right and +3 px down. Gripper command: now 0.65 open; starts closing at +1.00 s and is shut (0.18) at +3.50 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.909, - -0.4933, - 0.866 - ], - "grasp_site_now_uv": [ - 612.5, - 132.0 - ], - "grasp_site_at_shut_xyz_m": [ - 0.8801, - -0.4768, - 0.8839 - ], - "grasp_site_at_shut_uv": [ - 611.2, - 135.3 - ], - "shut_in_top_view": true, - "close_onset_frame": 30, - "close_done_frame": 105, - "path_len_cm": 20.9, - "path_uv_every_3_frames": [ - [ - 624.6, - 105.6 - ], - [ - 628.1, - 101.1 - ], - [ - 630.7, - 99.4 - ], - [ - 631.0, - 99.7 - ], - [ - 629.8, - 104.4 - ], - [ - 627.5, - 111.0 - ], - [ - 624.0, - 117.0 - ], - [ - 622.2, - 121.5 - ], - [ - 618.9, - 124.2 - ], - [ - 614.0, - 126.4 - ], - [ - 611.0, - 126.8 - ], - [ - 608.4, - 128.1 - ], - [ - 607.1, - 129.0 - ], - [ - 608.2, - 129.9 - ], - [ - 609.8, - 130.8 - ], - [ - 610.5, - 131.3 - ], - [ - 610.9, - 131.1 - ], - [ - 610.4, - 131.2 - ], - [ - 610.0, - 131.2 - 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"plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -9.9 cm forward, -6.4 cm to the robot's left and +8.4 cm up from where it is now (path length 17.6 cm); in the top camera that is +53 px right and +33 px down. Gripper command: now 0.92 open; starts closing at +1.87 s and is shut (0.01) at +2.40 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4409, - -0.0947, - 1.0242 - ], - "grasp_site_now_uv": [ - 363.9, - 260.5 - ], - "grasp_site_at_shut_xyz_m": [ - 0.3415, - -0.1584, - 1.1082 - ], - "grasp_site_at_shut_uv": [ - 417.0, - 293.6 - ], - "shut_in_top_view": true, - "close_onset_frame": 56, - "close_done_frame": 72, - "path_len_cm": 17.6, - "path_uv_every_3_frames": [ - [ - 364.7, - 256.4 - ], - [ - 365.1, - 256.5 - ], - [ - 368.0, - 255.3 - ], - [ - 369.8, - 254.8 - ], - [ - 369.0, - 255.4 - ], - [ - 369.1, - 255.4 - ], - [ - 370.0, - 254.9 - ], - [ - 368.7, - 255.4 - ], - [ - 366.8, - 256.7 - ], - [ - 366.6, - 257.3 - ], - [ - 368.2, - 257.1 - ], - [ - 370.1, - 258.2 - ], - [ - 375.2, - 258.9 - ], - [ - 381.7, - 261.1 - ], - [ - 388.0, - 266.9 - ], - [ - 395.8, - 273.1 - ], - [ - 403.9, - 281.6 - ], - [ - 410.3, - 287.2 - ], - [ - 411.5, - 288.4 - 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0.02751, - 0.07708, - 0.25796, - 0.99945 - ] - ], - "state_t": [ - -0.03719, - 1.33116, - 1.06641, - -0.49611, - -0.21954, - 0.08831, - 0.58135, - 0.54761, - 0.94625, - 0.64183, - 0.0124, - 0.06161, - 0.25463, - 0.99764 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +0.8 cm forward, -0.3 cm to the robot's left and -0.3 cm up from where it is now (path length 4.6 cm); in the top camera that is +2 px right and -2 px down. Gripper command: now 0.57 open; starts closing at +0.00 s and is shut (0.00) at +0.87 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.6369, - 0.3327, - 0.9488 - ], - "grasp_site_now_uv": [ - 183.1, - 197.9 - ], - "grasp_site_at_shut_xyz_m": [ - 0.6453, - 0.3302, - 0.9456 - ], - "grasp_site_at_shut_uv": [ - 185.2, - 195.8 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 26, - "path_len_cm": 4.6, - "path_uv_every_3_frames": [ - [ - 175.4, - 196.5 - ], - [ - 176.1, - 196.3 - ], - [ - 178.8, - 196.9 - ], - [ - 178.4, - 198.3 - ], - [ - 179.5, - 199.1 - ], - [ - 179.5, - 199.2 - ], - [ - 180.4, - 198.0 - ], - [ - 181.8, - 196.6 - ], - [ - 183.3, - 196.1 - ], - [ - 185.2, - 195.8 - ], - [ - 185.2, - 195.8 - ], - [ - 185.2, - 195.8 - ], - [ - 185.2, - 195.8 - ], - [ - 185.2, - 195.8 - ], - [ - 185.2, - 195.8 - ], - [ - 185.2, - 195.8 - ], - [ - 185.2, - 195.8 - ], - [ - 185.2, - 195.8 - ], - [ - 185.2, - 195.8 - ], - 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By the time the jaws shut, the gripper site has moved +1.5 cm forward, +0.2 cm to the robot's left and -7.2 cm up from where it is now (path length 6.4 cm); in the top camera that is -5 px right and +11 px down. Gripper command: now 0.96 open; starts closing at +0.10 s and is shut (0.65) at +0.67 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5676, - -0.1188, - 0.9286 - ], - "grasp_site_now_uv": [ - 366.8, - 228.0 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5825, - -0.1166, - 0.8563 - ], - "grasp_site_at_shut_uv": [ - 361.8, - 239.3 - ], - "shut_in_top_view": true, - "close_onset_frame": 3, - "close_done_frame": 20, - "path_len_cm": 6.4, - "path_uv_every_3_frames": [ - [ - 367.1, - 226.2 - ], - [ - 366.8, - 225.6 - ], - [ - 366.3, - 226.8 - ], - [ - 365.8, - 228.4 - ], - [ - 366.1, - 232.0 - ], - [ - 365.7, - 234.7 - ], - [ - 362.0, - 237.8 - ], - [ - 361.8, - 239.3 - ], - [ - 361.8, - 239.3 - ], - [ - 361.8, - 239.3 - ], - [ - 361.8, - 239.3 - ], - [ - 361.8, - 239.3 - ], - [ - 361.8, - 239.3 - ], - [ - 361.8, - 239.3 - ], - [ - 361.8, - 239.3 - ], - [ - 361.8, - 239.3 - ], - [ - 361.8, - 239.3 - ], - [ - 361.8, - 239.3 - ], - [ - 361.8, - 239.3 - 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0.31755, - -0.06599, - 0.27661, - 0.9434, - 2.02332, - 0.80838, - 0.66727, - -0.01684, - 1.05075, - 0.1081 - ], - [ - -0.40344, - 1.5524, - 0.94332, - -0.46009, - 0.31755, - -0.06599, - 0.27661, - 0.9434, - 2.02332, - 0.80838, - 0.66727, - -0.01684, - 1.05075, - 0.1081 - ] - ], - "state_t": [ - -0.40417, - 1.55509, - 0.90467, - -0.40303, - 0.31834, - -0.09747, - 0.10069, - 0.93938, - 1.97547, - 0.72957, - 0.8505, - -0.16804, - 1.05879, - 0.5235 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +2.1 cm forward, -1.1 cm to the robot's left and -3.5 cm up from where it is now (path length 4.4 cm); in the top camera that is +6 px right and -2 px down. Gripper command: now 0.53 open; starts closing at +0.10 s and is shut (0.11) at +0.47 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5141, - 0.0958, - 0.8006 - ], - "grasp_site_now_uv": [ - 273.9, - 276.7 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5351, - 0.0846, - 0.7656 - ], - "grasp_site_at_shut_uv": [ - 280.3, - 275.0 - ], - "shut_in_top_view": true, - "close_onset_frame": 3, - "close_done_frame": 14, - "path_len_cm": 4.4, - "path_uv_every_3_frames": [ - [ - 283.8, - 288.2 - ], - [ - 279.9, - 284.0 - ], - [ - 279.3, - 281.8 - ], - [ - 283.0, - 278.3 - ], - [ - 281.8, - 275.4 - ], - [ - 280.3, - 275.0 - ], - [ - 280.3, - 275.0 - ], - [ - 280.3, - 275.0 - ], - [ - 280.3, - 275.0 - ], - [ - 280.3, - 275.0 - ], - [ - 280.3, - 275.0 - ], - [ - 280.3, - 275.0 - ], - [ - 280.3, - 275.0 - ], - [ - 280.3, - 275.0 - ], - [ - 280.3, - 275.0 - ], - [ - 280.3, - 275.0 - ], - [ - 280.3, - 275.0 - ], - [ - 280.3, - 275.0 - ], - [ - 280.3, - 275.0 - ], - 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-0.14435, - -0.6013, - 0.02266, - 0.38196, - 1.18118, - 0.67342, - 0.09357, - -0.07825, - 0.43258, - 0.91234 - ], - [ - 0.34824, - 1.01861, - 0.82686, - -0.64581, - -0.14435, - -0.6013, - 0.02266, - 0.38196, - 1.18118, - 0.67342, - 0.09357, - -0.07825, - 0.43258, - 0.91234 - ], - [ - 0.34824, - 1.01861, - 0.82686, - -0.64581, - -0.14435, - -0.6013, - 0.02266, - 0.38196, - 1.18118, - 0.67342, - 0.09357, - -0.07825, - 0.43258, - 0.91234 - ] - ], - "state_t": [ - 0.13104, - 0.66625, - 0.71813, - -0.52243, - -0.2554, - -0.43202, - 0.99287, - 0.36755, - 1.72904, - 0.97486, - 0.22564, - 0.1791, - 0.35687, - 0.79943 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +1.1 cm forward, +4.6 cm to the robot's left and -7.1 cm up from where it is now (path length 47.7 cm); in the top camera that is -7 px right and +13 px down. Gripper command: now 0.99 open; starts closing at +1.30 s and is shut (0.02) at +2.43 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5112, - 0.3874, - 0.9917 - ], - "grasp_site_now_uv": [ - 119.5, - 232.1 - ], - "grasp_site_at_shut_xyz_m": [ - 0.522, - 0.4339, - 0.921 - ], - "grasp_site_at_shut_uv": [ - 112.2, - 245.0 - ], - "shut_in_top_view": true, - "close_onset_frame": 39, - "close_done_frame": 73, - "path_len_cm": 47.7, - "path_uv_every_3_frames": [ - [ - 123.6, - 234.0 - ], - [ - 122.3, - 239.1 - ], - [ - 120.5, - 245.0 - ], - [ - 113.6, - 253.4 - ], - [ - 105.1, - 262.4 - ], - [ - 98.2, - 269.0 - ], - [ - 91.8, - 273.8 - ], - [ - 89.9, - 278.6 - ], - [ - 86.8, - 281.1 - ], - [ - 83.3, - 285.6 - ], - [ - 84.2, - 290.9 - ], - [ - 90.4, - 291.8 - ], - [ - 97.5, - 290.0 - ], - [ - 105.0, - 287.8 - ], - [ - 112.6, - 282.3 - ], - [ - 121.7, - 278.2 - ], - [ - 129.3, - 275.5 - ], - [ - 134.1, - 273.9 - ], - [ - 136.9, - 274.3 - ], - [ - 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By the time the jaws shut, the gripper site has moved +7.5 cm forward, -0.5 cm to the robot's left and +1.2 cm up from where it is now (path length 5.9 cm); in the top camera that is -4 px right and -53 px down. Gripper command: now 0.90 open; starts closing at +0.00 s and is shut (0.23) at +1.20 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.3282, - -0.2184, - 1.1908 - ], - "grasp_site_now_uv": [ - 489.3, - 275.2 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4034, - -0.2231, - 1.2029 - ], - "grasp_site_at_shut_uv": [ - 485.3, - 221.9 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 36, - "path_len_cm": 5.9, - "path_uv_every_3_frames": [ - [ - 493.5, - 256.3 - ], - [ - 492.2, - 251.9 - ], - [ - 490.7, - 248.2 - ], - [ - 489.1, - 244.5 - ], - [ - 487.8, - 241.5 - ], - [ - 488.2, - 238.5 - ], - [ - 485.5, - 234.8 - ], - [ - 484.2, - 231.6 - ], - [ - 484.4, - 228.6 - ], - [ - 484.8, - 225.3 - ], - [ - 485.1, - 223.3 - ], - [ - 485.6, - 222.6 - ], - [ - 485.3, - 221.9 - ], - [ - 485.3, - 221.9 - ], - [ - 485.3, - 221.9 - ], - [ - 485.3, - 221.9 - ], - [ - 485.3, - 221.9 - ], - [ - 485.3, - 221.9 - ], - [ - 485.3, - 221.9 - 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By the time the jaws shut, the gripper site has moved -1.9 cm forward, +3.1 cm to the robot's left and +2.7 cm up from where it is now (path length 18.5 cm); in the top camera that is -15 px right and +1 px down. Gripper command: now 0.73 open; starts closing at +0.93 s and is shut (0.02) at +1.57 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5904, - 0.0265, - 0.8702 - ], - "grasp_site_now_uv": [ - 308.1, - 229.6 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5711, - 0.0574, - 0.8972 - ], - "grasp_site_at_shut_uv": [ - 293.5, - 230.7 - ], - "shut_in_top_view": true, - "close_onset_frame": 28, - "close_done_frame": 47, - "path_len_cm": 18.5, - "path_uv_every_3_frames": [ - [ - 299.7, - 226.5 - ], - [ - 290.2, - 220.4 - ], - [ - 281.6, - 217.8 - ], - [ - 274.1, - 219.5 - ], - [ - 270.8, - 220.0 - ], - [ - 270.2, - 223.8 - ], - [ - 271.5, - 225.9 - ], - [ - 277.0, - 228.2 - ], - [ - 284.4, - 231.9 - ], - [ - 288.0, - 232.3 - ], - [ - 290.2, - 233.3 - ], - [ - 294.0, - 231.2 - ], - [ - 296.7, - 230.2 - ], - [ - 297.1, - 230.5 - ], - [ - 296.2, - 231.5 - ], - [ - 294.7, - 231.8 - ], - [ - 293.5, - 230.7 - ], - [ - 293.5, - 230.7 - ], - [ - 293.5, - 230.7 - 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[ - -0.5921, - 2.30715, - 2.51739, - -0.8744, - -0.22554, - -0.21634, - 0.02483, - 0.30373, - 2.07089, - 1.0646, - 1.23946, - -0.2669, - 0.77314, - 0.28122 - ], - [ - -0.5921, - 2.30715, - 2.51739, - -0.8744, - -0.22554, - -0.21634, - 0.02483, - 0.30373, - 2.07089, - 1.0646, - 1.23946, - -0.2669, - 0.77314, - 0.28122 - ] - ], - "state_t": [ - -0.5518, - 2.28828, - 2.50954, - -0.88979, - -0.04902, - -0.15888, - 0.63603, - 0.28744, - 2.08419, - 1.03017, - 1.14042, - -0.16766, - 0.8093, - 0.19209 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +0.6 cm forward, +0.2 cm to the robot's left and -0.2 cm up from where it is now (path length 3.2 cm); in the top camera that is -1 px right and -1 px down. Gripper command: now 0.64 open; starts closing at +0.07 s and is shut (0.02) at +1.00 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.777, - -0.0031, - 1.0241 - ], - "grasp_site_now_uv": [ - 323.2, - 128.8 - ], - "grasp_site_at_shut_xyz_m": [ - 0.7825, - -0.0006, - 1.0217 - ], - "grasp_site_at_shut_uv": [ - 322.1, - 127.8 - ], - "shut_in_top_view": true, - "close_onset_frame": 2, - "close_done_frame": 30, - "path_len_cm": 3.2, - "path_uv_every_3_frames": [ - [ - 325.9, - 129.2 - ], - [ - 326.3, - 130.3 - ], - [ - 325.4, - 129.6 - ], - [ - 324.5, - 128.1 - ], - [ - 322.9, - 127.5 - ], - [ - 322.5, - 128.1 - ], - [ - 321.7, - 128.0 - ], - [ - 320.2, - 128.4 - ], - [ - 320.7, - 128.5 - ], - [ - 320.7, - 127.8 - ], - [ - 322.1, - 127.8 - ], - [ - 322.1, - 127.8 - ], - [ - 322.1, - 127.8 - ], - [ - 322.1, - 127.8 - ], - [ - 322.1, - 127.8 - ], - [ - 322.1, - 127.8 - ], - [ - 322.1, - 127.8 - ], - [ - 322.1, - 127.8 - ], - [ - 322.1, - 127.8 - 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0.32548, - 0.2881 - ], - [ - -0.37122, - 1.72383, - 1.73309, - -0.69416, - 0.35651, - 0.14418, - 0.47155, - 0.98776, - 1.84142, - 2.49683, - -1.57896, - 0.35853, - 0.32548, - 0.2881 - ] - ], - "state_t": [ - -0.45262, - 1.15492, - 1.2293, - -0.75742, - -0.49115, - -0.52739, - 0.99933, - 0.37518, - 1.72179, - 1.43606, - -1.15339, - 0.11692, - 0.30575, - 0.99868 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +10.2 cm forward, -16.1 cm to the robot's left and -0.3 cm up from where it is now (path length 28.6 cm); in the top camera that is +78 px right and -36 px down. Gripper command: now 1.00 open; starts closing at +1.83 s and is shut (0.47) at +2.83 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5815, - 0.2392, - 1.0422 - ], - "grasp_site_now_uv": [ - 211.7, - 200.8 - ], - "grasp_site_at_shut_xyz_m": [ - 0.6833, - 0.0786, - 1.0396 - ], - "grasp_site_at_shut_uv": [ - 290.1, - 164.8 - ], - "shut_in_top_view": true, - "close_onset_frame": 55, - "close_done_frame": 85, - "path_len_cm": 28.6, - "path_uv_every_3_frames": [ - [ - 208.8, - 203.4 - ], - [ - 208.2, - 203.7 - ], - [ - 207.7, - 204.0 - ], - [ - 208.1, - 204.7 - ], - [ - 207.9, - 205.0 - ], - [ - 208.0, - 205.1 - ], - [ - 208.1, - 204.6 - ], - [ - 207.6, - 204.8 - ], - [ - 207.2, - 204.7 - ], - [ - 206.6, - 204.7 - ], - [ - 206.5, - 205.1 - ], - [ - 207.2, - 204.3 - ], - [ - 209.4, - 201.8 - ], - [ - 214.6, - 195.6 - ], - [ - 216.3, - 185.8 - ], - [ - 222.6, - 174.4 - ], - [ - 229.8, - 163.1 - ], - [ - 241.5, - 154.3 - ], - [ - 252.3, - 149.7 - 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-0.74292, - 0.11959, - 0.53349, - 0.83694 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +14.1 cm forward, -36.8 cm to the robot's left and -6.1 cm up from where it is now (path length 50.0 cm); in the top camera that is +146 px right and -30 px down. Gripper command: now 0.96 open; starts closing at +1.30 s and is shut (0.41) at +1.63 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.6511, - -0.1305, - 0.9938 - ], - "grasp_site_now_uv": [ - 488.3, - 176.2 - ], - "grasp_site_at_shut_xyz_m": [ - 0.7921, - -0.499, - 0.9331 - ], - "grasp_site_at_shut_uv": [ - 634.5, - 146.0 - ], - "shut_in_top_view": true, - "close_onset_frame": 39, - "close_done_frame": 49, - "path_len_cm": 50.0, - "path_uv_every_3_frames": [ - [ - 498.3, - 159.2 - ], - [ - 516.9, - 148.5 - ], - [ - 530.6, - 138.8 - ], - [ - 542.8, - 131.2 - ], - [ - 556.0, - 135.5 - ], - [ - 572.8, - 143.1 - ], - [ - 592.1, - 151.6 - ], - [ - 609.5, - 157.2 - ], - [ - 620.7, - 159.1 - ], - [ - 630.8, - 160.3 - ], - [ - 635.4, - 161.6 - ], - [ - 636.9, - 162.7 - ], - [ - 636.4, - 164.7 - ], - [ - 634.0, - 158.6 - ], - [ - 632.8, - 154.3 - ], - [ - 632.6, - 149.6 - ], - [ - 633.4, - 147.7 - ], - [ - 634.5, - 146.0 - ], - [ - 634.5, - 146.0 - 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By the time the jaws shut, the gripper site has moved +0.5 cm forward, -0.8 cm to the robot's left and +0.5 cm up from where it is now (path length 4.3 cm); in the top camera that is +4 px right and -4 px down. Gripper command: now 1.00 open; starts closing at +0.20 s and is shut (0.01) at +1.10 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4811, - -0.2022, - 0.9867 - ], - "grasp_site_now_uv": [ - 429.8, - 248.2 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4862, - -0.21, - 0.9916 - ], - "grasp_site_at_shut_uv": [ - 434.1, - 244.6 - ], - "shut_in_top_view": true, - "close_onset_frame": 6, - "close_done_frame": 33, - "path_len_cm": 4.3, - "path_uv_every_3_frames": [ - [ - 434.9, - 249.3 - ], - [ - 437.1, - 249.4 - ], - [ - 439.2, - 249.2 - ], - [ - 436.4, - 249.4 - ], - [ - 432.9, - 249.9 - ], - [ - 430.7, - 250.3 - ], - [ - 430.8, - 250.1 - ], - [ - 432.0, - 249.8 - ], - [ - 432.7, - 249.1 - ], - [ - 432.8, - 246.9 - ], - [ - 433.9, - 245.6 - ], - [ - 434.1, - 244.6 - ], - [ - 434.1, - 244.6 - ], - [ - 434.1, - 244.6 - ], - [ - 434.1, - 244.6 - ], - [ - 434.1, - 244.6 - ], - [ - 434.1, - 244.6 - ], - [ - 434.1, - 244.6 - ], - [ - 434.1, - 244.6 - ], - 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By the time the jaws shut, the gripper site has moved -8.2 cm forward, -10.8 cm to the robot's left and +1.6 cm up from where it is now (path length 9.4 cm); in the top camera that is +57 px right and +34 px down. Gripper command: now 1.00 open; starts closing at +0.17 s and is shut (0.41) at +0.67 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5251, - 0.0854, - 0.9817 - ], - "grasp_site_now_uv": [ - 382.0, - 233.2 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4432, - -0.0231, - 0.998 - ], - "grasp_site_at_shut_uv": [ - 438.5, - 266.9 - ], - "shut_in_top_view": true, - "close_onset_frame": 5, - "close_done_frame": 20, - "path_len_cm": 9.4, - "path_uv_every_3_frames": [ - [ - 404.1, - 235.5 - ], - [ - 420.6, - 245.5 - ], - [ - 427.3, - 251.4 - ], - [ - 429.8, - 257.3 - ], - [ - 431.9, - 261.0 - ], - [ - 435.0, - 265.0 - ], - [ - 438.5, - 267.2 - ], - [ - 438.5, - 266.9 - ], - [ - 438.5, - 266.9 - ], - [ - 438.5, - 266.9 - ], - [ - 438.5, - 266.9 - ], - [ - 438.5, - 266.9 - ], - [ - 438.5, - 266.9 - ], - [ - 438.5, - 266.9 - ], - [ - 438.5, - 266.9 - ], - [ - 438.5, - 266.9 - ], - [ - 438.5, - 266.9 - ], - [ - 438.5, - 266.9 - ], - [ - 438.5, - 266.9 - ], - 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0.93999, - 0.58706, - 0.47553, - 0.56486, - -0.75309, - 0.0, - 0.49548, - 1.21025, - 1.06048, - -0.0731, - -0.89069, - 0.53592, - 0.00401 - ] - ], - "state_t": [ - -0.49649, - 0.62276, - 0.79023, - -0.21572, - 0.21267, - -0.29583, - 0.97205, - 0.44995, - 1.19993, - 1.14233, - -0.13447, - -0.83143, - 0.58042, - 0.01407 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -0.4 cm forward, -9.8 cm to the robot's left and -3.1 cm up from where it is now (path length 11.9 cm); in the top camera that is +54 px right and +11 px down. Gripper command: now 0.96 open; starts closing at +0.00 s and is shut (0.00) at +1.47 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.479, - 0.1465, - 1.1064 - ], - "grasp_site_now_uv": [ - 242.3, - 216.9 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4751, - 0.0488, - 1.0754 - ], - "grasp_site_at_shut_uv": [ - 296.7, - 227.6 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 44, - "path_len_cm": 11.9, - "path_uv_every_3_frames": [ - [ - 253.1, - 223.9 - ], - [ - 263.4, - 229.5 - ], - [ - 270.4, - 233.6 - ], - [ - 272.9, - 233.3 - ], - [ - 276.1, - 232.6 - ], - [ - 280.4, - 231.6 - ], - [ - 281.6, - 229.6 - ], - [ - 282.7, - 226.2 - ], - [ - 285.7, - 223.9 - ], - [ - 290.5, - 223.4 - ], - [ - 295.8, - 224.6 - ], - [ - 298.2, - 225.5 - ], - [ - 297.5, - 226.1 - ], - [ - 296.7, - 227.1 - ], - [ - 296.7, - 227.5 - ], - [ - 296.7, - 227.6 - ], - [ - 296.7, - 227.6 - ], - [ - 296.7, - 227.6 - ], - [ - 296.7, - 227.6 - ], - 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], - [ - -0.21016, - 1.43271, - 1.85458, - -0.80534, - 0.13039, - -0.02435, - 0.99771, - 1.23968, - 1.1232, - 0.70858, - -0.80884, - 0.51309, - 1.99561, - 0.49405 - ], - [ - -0.21016, - 1.43271, - 1.85458, - -0.80534, - 0.13039, - -0.02435, - 0.99771, - 1.23968, - 1.1232, - 0.70858, - -0.80884, - 0.51309, - 1.99561, - 0.49405 - ], - [ - -0.21016, - 1.43271, - 1.85458, - -0.80534, - 0.13039, - -0.02435, - 0.99771, - 1.23968, - 1.1232, - 0.70858, - -0.80884, - 0.51309, - 1.99561, - 0.49405 - ] - ], - "state_t": [ - -0.20581, - 1.43111, - 1.83852, - -0.83562, - 0.11692, - 0.01774, - 0.99651, - 1.38876, - 1.27203, - 0.66701, - -0.60178, - 0.4118, - 2.07351, - 0.92008 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +4.0 cm forward, -5.3 cm to the robot's left and +3.8 cm up from where it is now (path length 11.3 cm); in the top camera that is +23 px right and -22 px down. Gripper command: now 0.91 open; starts closing at +0.13 s and is shut (0.49) at +1.03 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.3664, - -0.0669, - 0.8116 - ], - "grasp_site_now_uv": [ - 352.2, - 324.3 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4061, - -0.1199, - 0.8494 - ], - "grasp_site_at_shut_uv": [ - 375.6, - 302.5 - ], - "shut_in_top_view": true, - "close_onset_frame": 4, - "close_done_frame": 31, - "path_len_cm": 11.3, - "path_uv_every_3_frames": [ - [ - 356.8, - 323.8 - ], - [ - 357.3, - 324.5 - ], - [ - 355.8, - 324.5 - ], - [ - 352.7, - 324.1 - ], - [ - 350.7, - 324.6 - ], - [ - 351.2, - 324.2 - ], - [ - 354.0, - 321.7 - ], - [ - 358.2, - 318.0 - ], - [ - 364.2, - 312.8 - ], - [ - 370.9, - 307.8 - ], - [ - 374.7, - 303.1 - ], - [ - 375.6, - 302.5 - ], - [ - 375.6, - 302.5 - ], - [ - 375.6, - 302.5 - ], - [ - 375.6, - 302.5 - ], - [ - 375.6, - 302.5 - ], - [ - 375.6, - 302.5 - ], - [ - 375.6, - 302.5 - ], - [ - 375.6, - 302.5 - 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By the time the jaws shut, the gripper site has moved -4.2 cm forward, -0.3 cm to the robot's left and +3.6 cm up from where it is now (path length 3.0 cm); in the top camera that is -0 px right and +10 px down. Gripper command: now 0.78 open; starts closing at +0.17 s and is shut (0.00) at +0.47 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4131, - 0.038, - 1.0513 - ], - "grasp_site_now_uv": [ - 306.1, - 259.3 - ], - "grasp_site_at_shut_xyz_m": [ - 0.3709, - 0.0348, - 1.0874 - ], - "grasp_site_at_shut_uv": [ - 305.9, - 269.5 - ], - "shut_in_top_view": true, - "close_onset_frame": 5, - "close_done_frame": 14, - "path_len_cm": 3.0, - "path_uv_every_3_frames": [ - [ - 307.2, - 264.6 - ], - [ - 305.3, - 267.3 - ], - [ - 304.0, - 268.9 - ], - [ - 303.5, - 271.5 - ], - [ - 305.4, - 270.3 - ], - [ - 305.9, - 269.5 - ], - [ - 305.9, - 269.5 - ], - [ - 305.9, - 269.5 - ], - [ - 305.9, - 269.5 - ], - [ - 305.9, - 269.5 - ], - [ - 305.9, - 269.5 - ], - [ - 305.9, - 269.5 - ], - [ - 305.9, - 269.5 - ], - [ - 305.9, - 269.5 - ], - [ - 305.9, - 269.5 - ], - [ - 305.9, - 269.5 - ], - [ - 305.9, - 269.5 - ], - [ - 305.9, - 269.5 - ], - [ - 305.9, - 269.5 - ], - 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By the time the jaws shut, the gripper site has moved -2.4 cm forward, +3.3 cm to the robot's left and +9.2 cm up from where it is now (path length 25.3 cm); in the top camera that is -17 px right and -17 px down. Gripper command: now 0.82 open; starts closing at +1.03 s and is shut (0.49) at +1.63 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.7165, - 0.0548, - 0.8685 - ], - "grasp_site_now_uv": [ - 403.0, - 189.5 - ], - "grasp_site_at_shut_xyz_m": [ - 0.6924, - 0.088, - 0.9602 - ], - "grasp_site_at_shut_uv": [ - 385.6, - 173.0 - ], - "shut_in_top_view": true, - "close_onset_frame": 31, - "close_done_frame": 49, - "path_len_cm": 25.3, - "path_uv_every_3_frames": [ - [ - 406.6, - 182.2 - ], - [ - 407.9, - 179.7 - ], - [ - 410.3, - 179.1 - ], - [ - 415.8, - 180.0 - ], - [ - 422.1, - 184.8 - ], - [ - 425.4, - 185.6 - ], - [ - 426.9, - 185.3 - ], - [ - 426.9, - 181.3 - ], - [ - 424.1, - 175.3 - ], - [ - 413.4, - 168.3 - ], - [ - 407.0, - 165.1 - ], - [ - 400.4, - 165.2 - ], - [ - 394.8, - 167.3 - ], - [ - 392.7, - 171.3 - ], - [ - 391.0, - 173.0 - ], - [ - 389.6, - 175.0 - ], - [ - 386.0, - 174.0 - ], - [ - 385.6, - 173.0 - ], - [ - 385.6, - 173.0 - 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By the time the jaws shut, the gripper site has moved -2.3 cm forward, +4.0 cm to the robot's left and -13.9 cm up from where it is now (path length 24.8 cm); in the top camera that is -31 px right and +40 px down. Gripper command: now 0.90 open; starts closing at +1.90 s and is shut (0.48) at +2.60 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5589, - -0.266, - 0.9352 - ], - "grasp_site_now_uv": [ - 438.1, - 229.9 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5359, - -0.2258, - 0.7963 - ], - "grasp_site_at_shut_uv": [ - 407.2, - 269.6 - ], - "shut_in_top_view": true, - "close_onset_frame": 57, - "close_done_frame": 78, - "path_len_cm": 24.8, - "path_uv_every_3_frames": [ - [ - 434.1, - 233.4 - ], - [ - 428.0, - 237.4 - ], - [ - 423.9, - 241.2 - ], - [ - 423.6, - 243.8 - ], - [ - 413.5, - 248.1 - ], - [ - 409.2, - 249.6 - ], - [ - 406.6, - 250.8 - ], - [ - 405.9, - 252.5 - ], - [ - 405.5, - 252.6 - ], - [ - 403.7, - 254.5 - ], - [ - 399.5, - 257.7 - ], - [ - 394.8, - 260.6 - ], - [ - 392.3, - 261.5 - ], - [ - 390.7, - 263.0 - ], - [ - 389.4, - 264.8 - ], - [ - 387.2, - 265.5 - ], - [ - 384.5, - 265.3 - ], - [ - 384.2, - 264.7 - ], - [ - 384.1, - 264.9 - 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By the time the jaws shut, the gripper site has moved -1.4 cm forward, +3.3 cm to the robot's left and +6.8 cm up from where it is now (path length 8.4 cm); in the top camera that is -23 px right and -22 px down. Gripper command: now 1.00 open; starts closing at +1.00 s and is shut (0.01) at +2.27 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.6318, - 0.0907, - 1.1534 - ], - "grasp_site_now_uv": [ - 275.3, - 136.9 - ], - "grasp_site_at_shut_xyz_m": [ - 0.6174, - 0.124, - 1.2209 - ], - "grasp_site_at_shut_uv": [ - 252.0, - 115.1 - ], - "shut_in_top_view": true, - "close_onset_frame": 30, - "close_done_frame": 68, - "path_len_cm": 8.4, - "path_uv_every_3_frames": [ - [ - 277.8, - 132.0 - ], - [ - 271.6, - 128.6 - ], - [ - 267.6, - 125.5 - ], - [ - 265.1, - 122.6 - ], - [ - 263.2, - 121.4 - ], - [ - 262.1, - 120.1 - ], - [ - 260.7, - 120.6 - ], - [ - 258.5, - 121.8 - ], - [ - 256.1, - 121.4 - ], - [ - 254.0, - 119.6 - ], - [ - 252.2, - 118.3 - ], - [ - 250.9, - 117.4 - ], - [ - 251.0, - 116.6 - ], - [ - 251.0, - 116.7 - ], - [ - 251.3, - 115.7 - ], - [ - 251.5, - 115.5 - ], - [ - 251.8, - 115.6 - ], - [ - 252.0, - 115.7 - ], - [ - 252.2, - 115.8 - ], - 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"plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +1.7 cm forward, -1.2 cm to the robot's left and -0.2 cm up from where it is now (path length 8.1 cm); in the top camera that is +4 px right and -6 px down. Gripper command: now 0.99 open; starts closing at +0.13 s and is shut (0.19) at +1.07 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.6368, - -0.4033, - 1.3249 - ], - "grasp_site_now_uv": [ - 613.5, - 39.8 - ], - "grasp_site_at_shut_xyz_m": [ - 0.6542, - -0.4155, - 1.3228 - ], - "grasp_site_at_shut_uv": [ - 617.1, - 33.6 - ], - "shut_in_top_view": true, - "close_onset_frame": 4, - "close_done_frame": 32, - "path_len_cm": 8.1, - "path_uv_every_3_frames": [ - [ - 624.8, - 29.7 - ], - [ - 621.7, - 28.6 - ], - [ - 619.5, - 31.4 - ], - [ - 616.5, - 35.5 - ], - [ - 614.8, - 39.4 - ], - [ - 611.6, - 42.4 - ], - [ - 607.5, - 43.2 - ], - [ - 608.7, - 42.5 - ], - [ - 610.4, - 40.0 - ], - [ - 614.8, - 37.6 - ], - [ - 616.3, - 34.8 - ], - [ - 617.1, - 33.6 - ], - [ - 617.1, - 33.6 - ], - [ - 617.1, - 33.6 - ], - [ - 617.1, - 33.6 - ], - [ - 617.1, - 33.6 - ], - [ - 617.1, - 33.6 - ], - [ - 617.1, - 33.6 - ], - [ - 617.1, - 33.6 - ], - [ - 617.1, - 33.6 - 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By the time the jaws shut, the gripper site has moved +9.0 cm forward, +2.6 cm to the robot's left and +2.6 cm up from where it is now (path length 19.2 cm); in the top camera that is -7 px right and -43 px down. Gripper command: now 0.93 open; starts closing at +0.13 s and is shut (0.00) at +0.83 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4261, - 0.4116, - 0.8464 - ], - "grasp_site_now_uv": [ - 128.8, - 302.7 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5161, - 0.4372, - 0.872 - ], - "grasp_site_at_shut_uv": [ - 121.7, - 259.4 - ], - "shut_in_top_view": true, - "close_onset_frame": 4, - "close_done_frame": 25, - "path_len_cm": 19.2, - "path_uv_every_3_frames": [ - [ - 122.1, - 287.2 - ], - [ - 124.1, - 274.8 - ], - [ - 131.3, - 269.8 - ], - [ - 137.7, - 272.0 - ], - [ - 142.9, - 278.6 - ], - [ - 140.9, - 281.4 - ], - [ - 135.9, - 276.1 - ], - [ - 129.3, - 266.0 - ], - [ - 123.5, - 260.1 - ], - [ - 121.7, - 259.4 - ], - [ - 121.7, - 259.4 - ], - [ - 121.7, - 259.4 - ], - [ - 121.7, - 259.4 - ], - [ - 121.7, - 259.4 - ], - [ - 121.7, - 259.4 - ], - [ - 121.7, - 259.4 - ], - [ - 121.7, - 259.4 - ], - [ - 121.7, - 259.4 - ], - [ - 121.7, - 259.4 - ], - 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0.08974, - -0.0, - 0.49767, - 0.06865 - ] - ], - "state_t": [ - -0.95693, - 1.72103, - 1.39448, - -0.5705, - -0.05665, - -0.8196, - 0.82784, - 0.92947, - 1.37808, - 0.60178, - 0.27256, - -0.20123, - 0.59796, - 0.53451 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +1.7 cm forward, -8.4 cm to the robot's left and -2.7 cm up from where it is now (path length 19.7 cm); in the top camera that is +25 px right and -1 px down. Gripper command: now 0.86 open; starts closing at +1.17 s and is shut (0.00) at +2.87 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.527, - -0.0628, - 0.9128 - ], - "grasp_site_now_uv": [ - 339.9, - 246.6 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5445, - -0.1467, - 0.886 - ], - "grasp_site_at_shut_uv": [ - 365.2, - 246.0 - ], - "shut_in_top_view": true, - "close_onset_frame": 35, - "close_done_frame": 86, - "path_len_cm": 19.7, - "path_uv_every_3_frames": [ - [ - 341.9, - 239.7 - ], - [ - 342.6, - 237.8 - ], - [ - 341.7, - 236.2 - ], - [ - 341.5, - 235.2 - ], - [ - 342.1, - 235.0 - ], - [ - 343.8, - 235.3 - ], - [ - 345.1, - 235.9 - ], - [ - 346.2, - 236.5 - ], - [ - 347.5, - 236.6 - ], - [ - 352.6, - 236.8 - ], - [ - 354.1, - 237.3 - ], - [ - 355.8, - 237.3 - ], - [ - 358.2, - 236.6 - ], - [ - 361.5, - 239.2 - ], - [ - 362.5, - 240.3 - ], - [ - 362.7, - 240.9 - ], - [ - 362.5, - 241.4 - ], - [ - 362.4, - 243.7 - ], - [ - 362.5, - 245.5 - 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By the time the jaws shut, the gripper site has moved -0.6 cm forward, -2.1 cm to the robot's left and -3.9 cm up from where it is now (path length 6.5 cm); in the top camera that is +8 px right and +10 px down. Gripper command: now 0.98 open; starts closing at +0.00 s and is shut (0.29) at +0.83 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4605, - -0.1035, - 0.8521 - ], - "grasp_site_now_uv": [ - 371.4, - 287.1 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4542, - -0.1248, - 0.8132 - ], - "grasp_site_at_shut_uv": [ - 379.5, - 296.9 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 25, - "path_len_cm": 6.5, - "path_uv_every_3_frames": [ - [ - 382.7, - 284.5 - ], - [ - 383.9, - 288.3 - ], - [ - 385.7, - 289.4 - ], - [ - 384.4, - 291.9 - ], - [ - 381.5, - 293.8 - ], - [ - 379.4, - 296.1 - ], - [ - 379.5, - 297.2 - ], - [ - 379.7, - 297.4 - ], - [ - 379.5, - 297.2 - ], - [ - 379.5, - 296.9 - ], - [ - 379.5, - 296.9 - ], - [ - 379.5, - 296.9 - ], - [ - 379.5, - 296.9 - ], - [ - 379.5, - 296.9 - ], - [ - 379.5, - 296.9 - ], - [ - 379.5, - 296.9 - ], - [ - 379.5, - 296.9 - ], - [ - 379.5, - 296.9 - ], - [ - 379.5, - 296.9 - 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1.48949, - 1.38465, - 0.08482, - -0.09997, - 0.03669, - 0.33914 - ] - ], - "state_t": [ - -0.46979, - 1.47917, - 1.48604, - -0.67388, - 1.03132, - 0.67426, - 0.92252, - 1.07862, - 1.50969, - 1.17971, - 0.1894, - -0.02689, - -0.00973, - 0.75354 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -0.1 cm forward, -1.9 cm to the robot's left and -0.8 cm up from where it is now (path length 5.0 cm); in the top camera that is +7 px right and +2 px down. Gripper command: now 0.92 open; starts closing at +0.07 s and is shut (0.00) at +1.07 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5139, - 0.0137, - 1.0888 - ], - "grasp_site_now_uv": [ - 316.9, - 210.0 - ], - "grasp_site_at_shut_xyz_m": [ - 0.513, - -0.005, - 1.0808 - ], - "grasp_site_at_shut_uv": [ - 324.0, - 212.0 - ], - "shut_in_top_view": true, - "close_onset_frame": 2, - "close_done_frame": 32, - "path_len_cm": 5.0, - "path_uv_every_3_frames": [ - [ - 318.5, - 209.0 - ], - [ - 319.7, - 212.0 - ], - [ - 320.9, - 213.8 - ], - [ - 322.0, - 212.9 - ], - [ - 323.3, - 211.7 - ], - [ - 324.4, - 209.6 - ], - [ - 324.8, - 209.2 - ], - [ - 324.6, - 209.5 - ], - [ - 323.9, - 211.0 - ], - [ - 323.7, - 212.3 - ], - [ - 323.8, - 212.7 - ], - [ - 324.0, - 212.0 - ], - [ - 324.0, - 212.0 - ], - [ - 324.0, - 212.0 - ], - [ - 324.0, - 212.0 - ], - [ - 324.0, - 212.0 - ], - [ - 324.0, - 212.0 - ], - [ - 324.0, - 212.0 - ], - [ - 324.0, - 212.0 - ], - 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1.96342, - 1.36681, - -0.02151, - 0.57671, - -0.59514, - 0.18925, - 0.43717, - 1.08925, - 0.5644, - -0.24062, - 0.08589, - 0.41108, - 0.11676 - ], - [ - -0.87282, - 1.96342, - 1.36681, - -0.02151, - 0.57671, - -0.59514, - 0.18925, - 0.43717, - 1.08925, - 0.5644, - -0.24062, - 0.08589, - 0.41108, - 0.11676 - ], - [ - -0.87282, - 1.96342, - 1.36681, - -0.02151, - 0.57671, - -0.59514, - 0.18925, - 0.43717, - 1.08925, - 0.5644, - -0.24062, - 0.08589, - 0.41108, - 0.11676 - ] - ], - "state_t": [ - -0.96036, - 2.18757, - 1.96708, - -0.06542, - 0.74903, - -0.68074, - 0.70454, - 0.62352, - 0.40074, - 1.08663, - -0.99966, - 0.72118, - 0.28668, - 0.61998 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +1.4 cm forward, +10.2 cm to the robot's left and -13.4 cm up from where it is now (path length 31.4 cm); in the top camera that is -66 px right and +28 px down. Gripper command: now 0.73 open; starts closing at +0.10 s and is shut (0.19) at +1.30 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5104, - -0.2606, - 1.0283 - ], - "grasp_site_now_uv": [ - 458.7, - 225.7 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5246, - -0.1586, - 0.8944 - ], - "grasp_site_at_shut_uv": [ - 392.5, - 253.4 - ], - "shut_in_top_view": true, - "close_onset_frame": 3, - "close_done_frame": 39, - "path_len_cm": 31.4, - "path_uv_every_3_frames": [ - [ - 421.3, - 215.6 - ], - [ - 397.0, - 219.1 - ], - [ - 378.0, - 225.4 - ], - [ - 366.8, - 233.5 - ], - [ - 362.4, - 237.9 - ], - [ - 361.6, - 235.9 - ], - [ - 366.4, - 234.3 - ], - [ - 376.3, - 235.9 - ], - [ - 381.1, - 235.7 - ], - [ - 385.5, - 238.6 - ], - [ - 389.5, - 241.3 - ], - [ - 391.7, - 243.0 - ], - [ - 391.8, - 247.9 - ], - [ - 392.5, - 253.4 - ], - [ - 392.5, - 253.4 - ], - [ - 392.5, - 253.4 - ], - [ - 392.5, - 253.4 - ], - [ - 392.5, - 253.4 - ], - [ - 392.5, - 253.4 - 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"plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -8.6 cm forward, +3.1 cm to the robot's left and -0.5 cm up from where it is now (path length 10.4 cm); in the top camera that is -8 px right and +29 px down. Gripper command: now 0.71 open; starts closing at +0.00 s and is shut (0.01) at +0.97 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.7845, - -0.3374, - 0.8546 - ], - "grasp_site_now_uv": [ - 445.0, - 170.1 - ], - "grasp_site_at_shut_xyz_m": [ - 0.6989, - -0.3065, - 0.8501 - ], - "grasp_site_at_shut_uv": [ - 437.4, - 199.0 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 29, - "path_len_cm": 10.4, - "path_uv_every_3_frames": [ - [ - 446.7, - 174.6 - ], - [ - 444.0, - 180.6 - ], - [ - 441.6, - 184.8 - ], - [ - 438.8, - 186.6 - ], - [ - 437.9, - 189.9 - ], - [ - 437.1, - 193.7 - ], - [ - 436.3, - 195.4 - ], - [ - 437.1, - 195.6 - ], - [ - 436.1, - 195.0 - ], - [ - 437.0, - 198.5 - ], - [ - 437.4, - 199.0 - ], - [ - 437.4, - 199.0 - ], - [ - 437.4, - 199.0 - ], - [ - 437.4, - 199.0 - ], - [ - 437.4, - 199.0 - ], - [ - 437.4, - 199.0 - ], - [ - 437.4, - 199.0 - ], - [ - 437.4, - 199.0 - ], - [ - 437.4, - 199.0 - 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"text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +2.1 cm forward, -2.3 cm to the robot's left and +17.8 cm up from where it is now (path length 23.2 cm); in the top camera that is -11 px right and -62 px down. Gripper command: now 0.99 open; starts closing at +0.07 s and is shut (0.00) at +0.87 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.7632, - 0.3415, - 0.8868 - ], - "grasp_site_now_uv": [ - 184.4, - 168.2 - ], - "grasp_site_at_shut_xyz_m": [ - 0.7837, - 0.3186, - 1.065 - ], - "grasp_site_at_shut_uv": [ - 173.5, - 106.3 - ], - "shut_in_top_view": true, - "close_onset_frame": 2, - "close_done_frame": 26, - "path_len_cm": 23.2, - "path_uv_every_3_frames": [ - [ - 188.4, - 176.9 - ], - [ - 189.0, - 180.9 - ], - [ - 194.5, - 181.7 - ], - [ - 192.8, - 175.3 - ], - [ - 187.4, - 161.5 - ], - [ - 183.0, - 147.8 - ], - [ - 179.2, - 132.6 - ], - [ - 175.4, - 118.9 - ], - [ - 173.9, - 109.8 - ], - [ - 173.5, - 106.3 - ], - [ - 173.5, - 106.3 - ], - [ - 173.5, - 106.3 - ], - [ - 173.5, - 106.3 - ], - [ - 173.5, - 106.3 - ], - [ - 173.5, - 106.3 - ], - [ - 173.5, - 106.3 - ], - [ - 173.5, - 106.3 - ], - [ - 173.5, - 106.3 - ], - [ - 173.5, - 106.3 - ], - 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By the time the jaws shut, the gripper site has moved -1.4 cm forward, -9.5 cm to the robot's left and -14.5 cm up from where it is now (path length 19.7 cm); in the top camera that is +44 px right and +34 px down. Gripper command: now 1.00 open; starts closing at +0.03 s and is shut (0.13) at +2.00 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.6073, - 0.1954, - 0.9088 - ], - "grasp_site_now_uv": [ - 230.3, - 219.6 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5931, - 0.1004, - 0.7635 - ], - "grasp_site_at_shut_uv": [ - 274.1, - 253.2 - ], - "shut_in_top_view": true, - "close_onset_frame": 1, - "close_done_frame": 60, - "path_len_cm": 19.7, - "path_uv_every_3_frames": [ - [ - 231.4, - 222.5 - ], - [ - 234.0, - 223.2 - ], - [ - 236.9, - 224.0 - ], - [ - 242.0, - 225.1 - ], - [ - 249.3, - 226.7 - ], - [ - 256.0, - 228.2 - ], - [ - 262.5, - 230.1 - ], - [ - 269.0, - 232.2 - ], - [ - 272.9, - 234.8 - ], - [ - 273.5, - 237.3 - ], - [ - 275.2, - 238.2 - ], - [ - 275.5, - 239.7 - ], - [ - 275.9, - 240.5 - ], - [ - 276.3, - 241.5 - ], - [ - 276.6, - 242.7 - ], - [ - 276.8, - 243.8 - ], - [ - 276.5, - 245.9 - ], - [ - 276.2, - 249.2 - ], - [ - 275.6, - 251.6 - 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2.06703, - 1.86255, - -0.55257, - -0.51976, - -0.17796, - 0.61124 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +1.8 cm forward, +1.5 cm to the robot's left and +4.2 cm up from where it is now (path length 7.1 cm); in the top camera that is -10 px right and -19 px down. Gripper command: now 0.61 open; starts closing at +0.17 s and is shut (0.00) at +0.77 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5717, - 0.1564, - 0.953 - ], - "grasp_site_now_uv": [ - 350.0, - 221.1 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5897, - 0.1717, - 0.9951 - ], - "grasp_site_at_shut_uv": [ - 340.0, - 202.1 - ], - "shut_in_top_view": true, - "close_onset_frame": 5, - "close_done_frame": 23, - "path_len_cm": 7.1, - "path_uv_every_3_frames": [ - [ - 345.7, - 217.6 - ], - [ - 344.4, - 217.1 - ], - [ - 343.6, - 216.5 - ], - [ - 344.3, - 216.5 - ], - [ - 343.7, - 215.4 - ], - [ - 343.8, - 211.2 - ], - [ - 341.6, - 203.3 - ], - [ - 340.9, - 201.6 - ], - [ - 340.0, - 202.1 - ], - [ - 340.0, - 202.1 - ], - [ - 340.0, - 202.1 - ], - [ - 340.0, - 202.1 - ], - [ - 340.0, - 202.1 - ], - [ - 340.0, - 202.1 - ], - [ - 340.0, - 202.1 - ], - [ - 340.0, - 202.1 - ], - [ - 340.0, - 202.1 - ], - [ - 340.0, - 202.1 - ], - [ - 340.0, - 202.1 - ], - 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By the time the jaws shut, the gripper site has moved -0.2 cm forward, +1.2 cm to the robot's left and -1.7 cm up from where it is now (path length 3.8 cm); in the top camera that is -6 px right and +5 px down. Gripper command: now 0.60 open; starts closing at +0.17 s and is shut (0.00) at +0.83 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.556, - -0.0786, - 0.98 - ], - "grasp_site_now_uv": [ - 362.5, - 216.9 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5545, - -0.0669, - 0.9626 - ], - "grasp_site_at_shut_uv": [ - 356.0, - 222.2 - ], - "shut_in_top_view": true, - "close_onset_frame": 5, - "close_done_frame": 25, - "path_len_cm": 3.8, - "path_uv_every_3_frames": [ - [ - 359.5, - 217.1 - ], - [ - 357.2, - 218.9 - ], - [ - 355.7, - 220.1 - ], - [ - 355.0, - 220.6 - ], - [ - 355.2, - 221.4 - ], - [ - 355.4, - 221.5 - ], - [ - 355.8, - 222.5 - ], - [ - 355.9, - 222.4 - ], - [ - 356.1, - 222.5 - ], - [ - 356.0, - 222.2 - ], - [ - 356.0, - 222.2 - ], - [ - 356.0, - 222.2 - ], - [ - 356.0, - 222.2 - ], - [ - 356.0, - 222.2 - ], - [ - 356.0, - 222.2 - ], - [ - 356.0, - 222.2 - ], - [ - 356.0, - 222.2 - ], - [ - 356.0, - 222.2 - ], - [ - 356.0, - 222.2 - ], - 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By the time the jaws shut, the gripper site has moved +0.5 cm forward, +6.3 cm to the robot's left and -2.3 cm up from where it is now (path length 10.7 cm); in the top camera that is -29 px right and +9 px down. Gripper command: now 1.00 open; starts closing at +0.93 s and is shut (0.25) at +1.20 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.709, - 0.3097, - 1.1884 - ], - "grasp_site_now_uv": [ - 250.7, - 83.9 - ], - "grasp_site_at_shut_xyz_m": [ - 0.7144, - 0.3728, - 1.1651 - ], - "grasp_site_at_shut_uv": [ - 221.4, - 92.5 - ], - "shut_in_top_view": true, - "close_onset_frame": 28, - "close_done_frame": 36, - "path_len_cm": 10.7, - "path_uv_every_3_frames": [ - [ - 244.0, - 80.1 - ], - [ - 243.2, - 80.9 - ], - [ - 242.2, - 81.2 - ], - [ - 241.6, - 81.4 - ], - [ - 241.1, - 80.8 - ], - [ - 241.1, - 80.5 - ], - [ - 237.6, - 79.7 - ], - [ - 229.1, - 80.7 - ], - [ - 217.4, - 85.7 - ], - [ - 215.2, - 91.9 - ], - [ - 215.7, - 97.2 - ], - [ - 218.5, - 98.0 - ], - [ - 221.4, - 92.5 - ], - [ - 221.4, - 92.5 - ], - [ - 221.4, - 92.5 - ], - [ - 221.4, - 92.5 - ], - [ - 221.4, - 92.5 - ], - [ - 221.4, - 92.5 - ], - [ - 221.4, - 92.5 - ], - [ - 221.4, - 92.5 - 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1.33153, - 1.45573, - -0.06444, - 0.32214, - -0.00155, - 0.04895 - ], - [ - -0.64272, - 1.25023, - 1.47722, - -0.33283, - 0.1335, - -0.43413, - 0.0, - 0.90351, - 1.33153, - 1.45573, - -0.06444, - 0.32214, - -0.00155, - 0.04895 - ] - ], - "state_t": [ - -0.57584, - 1.23579, - 1.45819, - -0.37976, - 0.0864, - -0.43698, - 0.59121, - 0.90543, - 1.24647, - 1.33574, - -0.02804, - 0.37976, - -0.04292, - 0.05762 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -1.8 cm forward, -3.0 cm to the robot's left and +1.5 cm up from where it is now (path length 6.8 cm); in the top camera that is +18 px right and +2 px down. Gripper command: now 0.59 open; starts closing at +0.00 s and is shut (0.00) at +1.30 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5794, - 0.0803, - 1.1877 - ], - "grasp_site_now_uv": [ - 265.7, - 136.4 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5616, - 0.0502, - 1.2025 - ], - "grasp_site_at_shut_uv": [ - 283.3, - 138.1 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 39, - "path_len_cm": 6.8, - "path_uv_every_3_frames": [ - [ - 258.1, - 126.2 - ], - [ - 259.3, - 124.9 - ], - [ - 261.6, - 123.2 - ], - [ - 266.0, - 123.1 - ], - [ - 270.0, - 125.4 - ], - [ - 271.0, - 127.8 - ], - [ - 270.7, - 129.6 - ], - [ - 271.6, - 130.0 - ], - [ - 274.3, - 130.4 - ], - [ - 276.7, - 130.2 - ], - [ - 277.3, - 132.3 - ], - [ - 279.8, - 134.6 - ], - [ - 282.7, - 136.5 - ], - [ - 283.3, - 138.1 - ], - [ - 283.3, - 138.1 - ], - [ - 283.3, - 138.1 - ], - [ - 283.3, - 138.1 - ], - [ - 283.3, - 138.1 - ], - [ - 283.3, - 138.1 - ], - 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By the time the jaws shut, the gripper site has moved +0.3 cm forward, +0.2 cm to the robot's left and +2.8 cm up from where it is now (path length 3.6 cm); in the top camera that is +1 px right and -13 px down. Gripper command: now 0.99 open; starts closing at +0.00 s and is shut (0.61) at +0.80 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.6769, - -0.1362, - 1.1888 - ], - "grasp_site_now_uv": [ - 390.4, - 105.7 - ], - "grasp_site_at_shut_xyz_m": [ - 0.6795, - -0.134, - 1.2172 - ], - "grasp_site_at_shut_uv": [ - 391.5, - 92.7 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 24, - "path_len_cm": 3.6, - "path_uv_every_3_frames": [ - [ - 399.2, - 105.4 - ], - [ - 400.9, - 104.8 - ], - [ - 399.8, - 103.0 - ], - [ - 396.9, - 101.2 - ], - [ - 394.5, - 99.3 - ], - [ - 392.8, - 98.0 - ], - [ - 391.8, - 96.1 - ], - [ - 391.2, - 94.3 - ], - [ - 391.5, - 92.7 - ], - [ - 391.5, - 92.7 - ], - [ - 391.5, - 92.7 - ], - [ - 391.5, - 92.7 - ], - [ - 391.5, - 92.7 - ], - [ - 391.5, - 92.7 - ], - [ - 391.5, - 92.7 - ], - [ - 391.5, - 92.7 - ], - [ - 391.5, - 92.7 - ], - [ - 391.5, - 92.7 - ], - [ - 391.5, - 92.7 - ], - [ - 391.5, - 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-0.0581, - -0.1049, - 0.3696, - 0.58442, - 0.75076, - 0.69039, - 0.35128, - -0.43185, - 0.40567, - 0.00483 - ], - [ - -1.07882, - 1.51792, - 0.76802, - 0.82295, - -0.0581, - -0.1049, - 0.3696, - 0.58442, - 0.75076, - 0.69039, - 0.35128, - -0.43185, - 0.40567, - 0.00483 - ] - ], - "state_t": [ - -1.05001, - 1.41051, - 0.73606, - 0.69944, - 0.08221, - -0.13561, - 0.99201, - 0.57927, - 0.78641, - 0.71317, - 0.32254, - -0.56401, - 0.3088, - 0.24938 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +1.9 cm forward, -1.2 cm to the robot's left and -0.2 cm up from where it is now (path length 3.0 cm); in the top camera that is +5 px right and -8 px down. Gripper command: now 0.99 open; starts closing at +0.03 s and is shut (0.37) at +0.43 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4643, - -0.0873, - 1.0246 - ], - "grasp_site_now_uv": [ - 365.9, - 249.4 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4829, - -0.099, - 1.0223 - ], - "grasp_site_at_shut_uv": [ - 371.1, - 241.9 - ], - "shut_in_top_view": true, - "close_onset_frame": 1, - "close_done_frame": 13, - "path_len_cm": 3.0, - "path_uv_every_3_frames": [ - [ - 371.5, - 239.5 - ], - [ - 371.3, - 239.0 - ], - [ - 371.4, - 240.0 - ], - [ - 370.9, - 240.0 - ], - [ - 371.2, - 241.1 - ], - [ - 371.1, - 241.9 - ], - [ - 371.1, - 241.9 - ], - [ - 371.1, - 241.9 - ], - [ - 371.1, - 241.9 - ], - [ - 371.1, - 241.9 - ], - [ - 371.1, - 241.9 - ], - [ - 371.1, - 241.9 - ], - [ - 371.1, - 241.9 - ], - [ - 371.1, - 241.9 - ], - [ - 371.1, - 241.9 - ], - [ - 371.1, - 241.9 - ], - [ - 371.1, - 241.9 - ], - [ - 371.1, - 241.9 - ], - [ - 371.1, - 241.9 - 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By the time the jaws shut, the gripper site has moved -12.5 cm forward, +6.2 cm to the robot's left and +0.1 cm up from where it is now (path length 31.7 cm); in the top camera that is -20 px right and +28 px down. Gripper command: now 0.98 open; starts closing at +1.50 s and is shut (0.35) at +3.47 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.7536, - 0.1196, - 0.7809 - ], - "grasp_site_now_uv": [ - 293.5, - 207.8 - ], - "grasp_site_at_shut_xyz_m": [ - 0.6288, - 0.1818, - 0.7814 - ], - "grasp_site_at_shut_uv": [ - 273.5, - 236.0 - ], - "shut_in_top_view": true, - "close_onset_frame": 45, - "close_done_frame": 104, - "path_len_cm": 31.7, - "path_uv_every_3_frames": [ - [ - 292.4, - 211.0 - ], - [ - 292.8, - 212.9 - ], - [ - 293.2, - 214.7 - ], - [ - 294.3, - 216.2 - ], - [ - 295.3, - 217.1 - ], - [ - 296.1, - 217.3 - ], - [ - 296.5, - 217.1 - ], - [ - 296.4, - 215.6 - ], - [ - 296.1, - 212.5 - ], - [ - 295.4, - 209.1 - ], - [ - 294.9, - 207.2 - ], - [ - 293.6, - 207.1 - ], - [ - 291.3, - 208.6 - ], - [ - 287.9, - 210.4 - ], - [ - 283.1, - 212.0 - ], - [ - 277.3, - 212.8 - ], - [ - 271.2, - 212.7 - ], - [ - 269.0, - 213.9 - ], - [ - 268.0, - 217.4 - 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], - [ - -0.06596, - 0.39423, - 0.71022, - -0.21784, - 0.52922, - -0.3099, - 0.0, - 1.39267, - 1.3573, - 0.83312, - 0.236, - 0.68547, - 0.95527, - 0.00094 - ], - [ - -0.06596, - 0.39423, - 0.71022, - -0.21784, - 0.52922, - -0.3099, - 0.0, - 1.39267, - 1.3573, - 0.83312, - 0.236, - 0.68547, - 0.95527, - 0.00094 - ], - [ - -0.06596, - 0.39423, - 0.71022, - -0.21784, - 0.52922, - -0.3099, - 0.0, - 1.39267, - 1.3573, - 0.83312, - 0.236, - 0.68547, - 0.95527, - 0.00094 - ], - [ - -0.06596, - 0.39423, - 0.71022, - -0.21784, - 0.52922, - -0.3099, - 0.0, - 1.39267, - 1.3573, - 0.83312, - 0.236, - 0.68547, - 0.95527, - 0.00094 - ] - ], - "state_t": [ - -0.06199, - 0.44728, - 0.69982, - -0.25387, - 0.52167, - -0.31643, - 0.62459, - 0.95312, - 1.85912, - 1.35939, - -0.25311, - 0.96761, - 0.4057, - 0.54909 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -1.6 cm forward, -0.1 cm to the robot's left and +2.3 cm up from where it is now (path length 2.1 cm); in the top camera that is -4 px right and +1 px down. Gripper command: now 0.62 open; starts closing at +0.20 s and is shut (0.00) at +0.63 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4724, - 0.2115, - 1.0972 - ], - "grasp_site_now_uv": [ - 195.6, - 220.7 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4565, - 0.2105, - 1.1202 - ], - "grasp_site_at_shut_uv": [ - 191.1, - 221.4 - ], - "shut_in_top_view": true, - "close_onset_frame": 6, - "close_done_frame": 19, - "path_len_cm": 2.1, - "path_uv_every_3_frames": [ - [ - 195.3, - 220.5 - ], - [ - 195.2, - 220.7 - ], - [ - 194.6, - 221.0 - ], - [ - 193.6, - 221.4 - ], - [ - 192.5, - 222.0 - ], - [ - 192.0, - 222.3 - ], - [ - 191.3, - 221.6 - ], - [ - 191.1, - 221.4 - ], - [ - 191.1, - 221.4 - ], - [ - 191.1, - 221.4 - ], - [ - 191.1, - 221.4 - ], - [ - 191.1, - 221.4 - ], - [ - 191.1, - 221.4 - ], - [ - 191.1, - 221.4 - ], - [ - 191.1, - 221.4 - ], - [ - 191.1, - 221.4 - ], - [ - 191.1, - 221.4 - ], - [ - 191.1, - 221.4 - ], - [ - 191.1, - 221.4 - ], - 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0.93328, - 1.06222, - 0.29698, - -1.23922, - 0.99446, - 0.23251, - 1.20642, - 0.94625, - 0.14935, - -0.11921, - 0.2985, - 0.99271 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -0.7 cm forward, +0.2 cm to the robot's left and +8.5 cm up from where it is now (path length 2.7 cm); in the top camera that is -16 px right and -24 px down. Gripper command: now 1.00 open; starts closing at +0.00 s and is shut (0.01) at +0.50 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.7716, - 0.4435, - 0.9452 - ], - "grasp_site_now_uv": [ - 136.2, - 151.6 - ], - "grasp_site_at_shut_xyz_m": [ - 0.7643, - 0.4454, - 1.0298 - ], - "grasp_site_at_shut_uv": [ - 119.8, - 127.3 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 15, - "path_len_cm": 2.7, - "path_uv_every_3_frames": [ - [ - 126.3, - 131.4 - ], - [ - 125.2, - 130.2 - ], - [ - 123.5, - 129.2 - ], - [ - 122.1, - 128.2 - ], - [ - 121.2, - 127.6 - ], - [ - 119.8, - 127.3 - ], - [ - 119.8, - 127.3 - ], - [ - 119.8, - 127.3 - ], - [ - 119.8, - 127.3 - ], - [ - 119.8, - 127.3 - ], - [ - 119.8, - 127.3 - ], - [ - 119.8, - 127.3 - ], - [ - 119.8, - 127.3 - ], - [ - 119.8, - 127.3 - ], - [ - 119.8, - 127.3 - ], - [ - 119.8, - 127.3 - ], - [ - 119.8, - 127.3 - ], - [ - 119.8, - 127.3 - ], - [ - 119.8, - 127.3 - ], - 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By the time the jaws shut, the gripper site has moved +2.1 cm forward, -2.8 cm to the robot's left and +2.1 cm up from where it is now (path length 9.3 cm); in the top camera that is +12 px right and -12 px down. Gripper command: now 0.86 open; starts closing at +0.07 s and is shut (0.31) at +1.37 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.7628, - -0.1905, - 0.8715 - ], - "grasp_site_now_uv": [ - 397.7, - 169.1 - ], - "grasp_site_at_shut_xyz_m": [ - 0.7842, - -0.2183, - 0.893 - ], - "grasp_site_at_shut_uv": [ - 409.7, - 156.6 - ], - "shut_in_top_view": true, - "close_onset_frame": 2, - "close_done_frame": 41, - "path_len_cm": 9.3, - "path_uv_every_3_frames": [ - [ - 405.2, - 161.8 - ], - [ - 405.2, - 162.9 - ], - [ - 404.8, - 164.5 - ], - [ - 405.2, - 168.0 - ], - [ - 405.8, - 171.1 - ], - [ - 405.5, - 173.6 - ], - [ - 405.5, - 175.3 - ], - [ - 406.0, - 175.5 - ], - [ - 406.1, - 173.8 - ], - [ - 407.3, - 170.8 - ], - [ - 409.0, - 166.7 - ], - [ - 409.5, - 161.6 - ], - [ - 409.6, - 158.9 - ], - [ - 410.1, - 156.8 - ], - [ - 409.7, - 156.6 - ], - [ - 409.7, - 156.6 - ], - [ - 409.7, - 156.6 - ], - [ - 409.7, - 156.6 - ], - [ - 409.7, - 156.6 - 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By the time the jaws shut, the gripper site has moved -3.6 cm forward, -0.9 cm to the robot's left and -1.5 cm up from where it is now (path length 7.3 cm); in the top camera that is +3 px right and +12 px down. Gripper command: now 0.87 open; starts closing at +1.63 s and is shut (0.67) at +1.80 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5722, - -0.0484, - 0.9522 - ], - "grasp_site_now_uv": [ - 335.6, - 227.8 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5366, - -0.0573, - 0.9372 - ], - "grasp_site_at_shut_uv": [ - 338.5, - 240.1 - ], - "shut_in_top_view": true, - "close_onset_frame": 49, - "close_done_frame": 54, - "path_len_cm": 7.3, - "path_uv_every_3_frames": [ - [ - 336.1, - 228.9 - ], - [ - 336.0, - 232.1 - ], - [ - 336.1, - 233.3 - ], - [ - 336.6, - 236.2 - ], - [ - 336.4, - 238.0 - ], - [ - 335.8, - 240.0 - ], - [ - 336.2, - 240.7 - ], - [ - 336.4, - 241.4 - ], - [ - 336.2, - 241.9 - ], - [ - 336.2, - 242.1 - ], - [ - 336.1, - 242.3 - ], - [ - 335.7, - 242.2 - ], - [ - 335.7, - 242.3 - ], - [ - 336.0, - 242.4 - ], - [ - 336.2, - 241.9 - ], - [ - 336.5, - 241.8 - ], - [ - 337.4, - 240.8 - ], - [ - 338.3, - 240.3 - ], - [ - 338.5, - 240.1 - 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"plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +5.5 cm forward, -2.8 cm to the robot's left and -5.9 cm up from where it is now (path length 8.6 cm); in the top camera that is +9 px right and -2 px down. Gripper command: now 0.99 open; starts closing at +0.20 s and is shut (0.21) at +1.47 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.724, - 0.0841, - 0.8806 - ], - "grasp_site_now_uv": [ - 291.3, - 207.1 - ], - "grasp_site_at_shut_xyz_m": [ - 0.7787, - 0.056, - 0.8219 - ], - "grasp_site_at_shut_uv": [ - 300.3, - 205.2 - ], - "shut_in_top_view": true, - "close_onset_frame": 6, - "close_done_frame": 44, - "path_len_cm": 8.6, - "path_uv_every_3_frames": [ - [ - 292.7, - 203.7 - ], - [ - 294.1, - 204.4 - ], - [ - 295.9, - 203.8 - ], - [ - 297.5, - 204.5 - ], - [ - 298.6, - 204.8 - ], - [ - 299.4, - 204.0 - ], - [ - 300.5, - 203.9 - ], - [ - 301.0, - 204.1 - ], - [ - 300.8, - 204.3 - ], - [ - 301.0, - 204.7 - ], - [ - 300.8, - 205.0 - ], - [ - 300.8, - 205.3 - ], - [ - 300.4, - 205.2 - ], - [ - 300.0, - 205.4 - ], - [ - 300.0, - 205.3 - ], - [ - 300.3, - 205.2 - ], - [ - 300.3, - 205.2 - ], - [ - 300.3, - 205.2 - ], - [ - 300.3, - 205.2 - ], - 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"plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -2.0 cm forward, +2.6 cm to the robot's left and +2.2 cm up from where it is now (path length 4.4 cm); in the top camera that is -10 px right and +3 px down. Gripper command: now 0.91 open; starts closing at +0.03 s and is shut (0.02) at +0.30 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5401, - -0.2135, - 0.9369 - ], - "grasp_site_now_uv": [ - 414.3, - 237.3 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5199, - -0.1871, - 0.9587 - ], - "grasp_site_at_shut_uv": [ - 404.5, - 240.5 - ], - "shut_in_top_view": true, - "close_onset_frame": 1, - "close_done_frame": 9, - "path_len_cm": 4.4, - "path_uv_every_3_frames": [ - [ - 413.2, - 233.2 - ], - [ - 405.0, - 242.2 - ], - [ - 403.9, - 243.7 - ], - [ - 404.5, - 240.5 - ], - [ - 404.5, - 240.5 - ], - [ - 404.5, - 240.5 - ], - [ - 404.5, - 240.5 - ], - [ - 404.5, - 240.5 - ], - [ - 404.5, - 240.5 - ], - [ - 404.5, - 240.5 - ], - [ - 404.5, - 240.5 - ], - [ - 404.5, - 240.5 - ], - [ - 404.5, - 240.5 - ], - [ - 404.5, - 240.5 - ], - [ - 404.5, - 240.5 - ], - [ - 404.5, - 240.5 - ], - [ - 404.5, - 240.5 - ], - [ - 404.5, - 240.5 - ], - [ - 404.5, - 240.5 - 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By the time the jaws shut, the gripper site has moved +0.0 cm forward, -1.3 cm to the robot's left and +0.9 cm up from where it is now (path length 3.8 cm); in the top camera that is +7 px right and -2 px down. Gripper command: now 0.60 open; starts closing at +0.03 s and is shut (0.02) at +0.93 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.3789, - -0.2379, - 0.8083 - ], - "grasp_site_now_uv": [ - 431.2, - 329.1 - ], - "grasp_site_at_shut_xyz_m": [ - 0.3793, - -0.2506, - 0.8172 - ], - "grasp_site_at_shut_uv": [ - 438.1, - 327.5 - ], - "shut_in_top_view": true, - "close_onset_frame": 1, - "close_done_frame": 28, - "path_len_cm": 3.8, - "path_uv_every_3_frames": [ - [ - 442.3, - 330.1 - ], - [ - 441.9, - 331.2 - ], - [ - 440.8, - 332.0 - ], - [ - 439.7, - 332.3 - ], - [ - 438.6, - 332.6 - ], - [ - 437.5, - 332.7 - ], - [ - 437.7, - 331.7 - ], - [ - 437.5, - 331.0 - ], - [ - 438.2, - 329.3 - ], - [ - 438.0, - 327.9 - ], - [ - 438.1, - 327.5 - ], - [ - 438.1, - 327.5 - ], - [ - 438.1, - 327.5 - ], - [ - 438.1, - 327.5 - ], - [ - 438.1, - 327.5 - ], - [ - 438.1, - 327.5 - ], - [ - 438.1, - 327.5 - ], - [ - 438.1, - 327.5 - ], - [ - 438.1, - 327.5 - 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], - [ - -0.23163, - 1.33611, - 0.61819, - -0.57221, - -0.31755, - -0.82375, - 0.0, - 1.20878, - 0.88057, - 0.43258, - -0.64579, - 0.25616, - 1.106, - 0.0 - ] - ], - "state_t": [ - -0.37251, - 1.09503, - 0.72881, - -0.50145, - -0.1051, - -0.8463, - 0.96585, - 1.23541, - 1.04772, - 0.52853, - -0.65023, - 0.2554, - 1.06413, - 0.57976 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -3.9 cm forward, +9.0 cm to the robot's left and -10.3 cm up from where it is now (path length 19.2 cm); in the top camera that is -31 px right and +36 px down. Gripper command: now 0.96 open; starts closing at +1.30 s and is shut (0.00) at +3.60 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5445, - 0.2151, - 0.8816 - ], - "grasp_site_now_uv": [ - 222.6, - 255.0 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5059, - 0.3048, - 0.7785 - ], - "grasp_site_at_shut_uv": [ - 191.3, - 290.8 - ], - "shut_in_top_view": true, - "close_onset_frame": 39, - "close_done_frame": 108, - "path_len_cm": 19.2, - "path_uv_every_3_frames": [ - [ - 217.6, - 259.0 - ], - [ - 216.5, - 260.9 - ], - [ - 217.1, - 261.2 - ], - [ - 217.3, - 261.3 - ], - [ - 216.8, - 261.4 - ], - [ - 215.3, - 262.4 - ], - [ - 214.2, - 263.1 - ], - [ - 212.4, - 265.0 - ], - [ - 210.4, - 266.1 - ], - [ - 208.6, - 266.3 - ], - [ - 207.6, - 265.6 - ], - [ - 206.7, - 265.5 - ], - [ - 206.8, - 265.1 - ], - [ - 206.9, - 264.6 - ], - [ - 206.7, - 265.8 - ], - [ - 205.3, - 269.5 - ], - [ - 204.6, - 274.5 - ], - [ - 202.3, - 278.9 - ], - [ - 199.7, - 280.8 - 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By the time the jaws shut, the gripper site has moved -6.0 cm forward, +0.0 cm to the robot's left and +3.5 cm up from where it is now (path length 9.6 cm); in the top camera that is +6 px right and +0 px down. Gripper command: now 0.88 open; starts closing at +1.07 s and is shut (0.46) at +1.70 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.7855, - -0.1124, - 1.292 - ], - "grasp_site_now_uv": [ - 388.2, - -3.9 - ], - "grasp_site_at_shut_xyz_m": [ - 0.7259, - -0.1123, - 1.3267 - ], - "grasp_site_at_shut_uv": [ - 394.5, - -3.6 - ], - "shut_in_top_view": false, - "close_onset_frame": 32, - "close_done_frame": 51, - "path_len_cm": 9.6, - "path_uv_every_3_frames": [ - [ - 392.9, - -35.2 - ], - [ - 392.3, - -32.2 - ], - [ - 388.7, - -27.4 - ], - [ - 386.8, - -22.9 - ], - [ - 387.9, - -20.1 - ], - [ - 391.8, - -19.4 - ], - [ - 394.9, - -17.9 - ], - [ - 396.0, - -13.5 - ], - [ - 396.5, - -11.0 - ], - [ - 397.0, - -8.8 - ], - [ - 395.2, - -2.6 - ], - [ - 394.4, - 1.5 - ], - [ - 394.1, - 2.8 - ], - [ - 393.8, - 2.8 - ], - [ - 393.3, - 1.8 - ], - [ - 393.3, - 0.9 - ], - [ - 393.5, - -0.5 - ], - [ - 394.5, - -3.6 - ], - [ - 394.5, - -3.6 - ], - [ - 394.5, - 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By the time the jaws shut, the gripper site has moved -12.6 cm forward, +20.1 cm to the robot's left and -9.9 cm up from where it is now (path length 28.9 cm); in the top camera that is -98 px right and +80 px down. Gripper command: now 0.68 open; starts closing at +0.93 s and is shut (0.24) at +1.43 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.624, - 0.0633, - 1.0342 - ], - "grasp_site_now_uv": [ - 393.4, - 174.1 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4984, - 0.2641, - 0.9349 - ], - "grasp_site_at_shut_uv": [ - 295.4, - 254.1 - ], - "shut_in_top_view": true, - "close_onset_frame": 28, - "close_done_frame": 43, - "path_len_cm": 28.9, - "path_uv_every_3_frames": [ - [ - 360.2, - 207.1 - ], - [ - 337.4, - 229.6 - ], - [ - 318.8, - 247.1 - ], - [ - 304.3, - 260.2 - ], - [ - 299.4, - 263.4 - ], - [ - 295.9, - 259.8 - ], - [ - 297.4, - 259.1 - ], - [ - 300.5, - 252.4 - ], - [ - 303.8, - 252.0 - ], - [ - 301.4, - 252.1 - ], - [ - 300.1, - 255.2 - ], - [ - 299.4, - 258.2 - ], - [ - 297.3, - 258.9 - ], - [ - 296.8, - 257.8 - ], - [ - 295.9, - 255.3 - ], - [ - 295.4, - 254.1 - ], - [ - 295.4, - 254.1 - ], - [ - 295.4, - 254.1 - ], - [ - 295.4, - 254.1 - 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2.275, - 2.35925, - -0.56911, - 0.05838, - 0.34062, - 0.0 - ], - [ - -0.49549, - 1.26859, - 1.16883, - -0.52289, - 0.34674, - -0.27615, - 0.98904, - -0.23777, - 2.275, - 2.35925, - -0.56911, - 0.05838, - 0.34062, - 0.0 - ] - ], - "state_t": [ - -0.51251, - 1.10456, - 1.19421, - -0.55905, - 0.33246, - -0.32979, - 0.98699, - -0.23899, - 2.24365, - 2.13264, - -0.62085, - 0.11006, - 0.42134, - 0.65479 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +3.2 cm forward, +0.2 cm to the robot's left and +9.1 cm up from where it is now (path length 48.7 cm); in the top camera that is +11 px right and -39 px down. Gripper command: now 0.65 open; starts closing at +0.20 s and is shut (0.00) at +1.93 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.846, - -0.4738, - 0.9406 - ], - "grasp_site_now_uv": [ - 518.8, - 127.6 - ], - "grasp_site_at_shut_xyz_m": [ - 0.8776, - -0.4717, - 1.032 - ], - "grasp_site_at_shut_uv": [ - 530.2, - 88.6 - ], - "shut_in_top_view": true, - "close_onset_frame": 6, - "close_done_frame": 58, - "path_len_cm": 48.7, - "path_uv_every_3_frames": [ - [ - 514.2, - 122.7 - ], - [ - 512.5, - 125.3 - ], - [ - 511.5, - 128.6 - ], - [ - 511.4, - 129.6 - ], - [ - 509.9, - 125.4 - ], - [ - 513.8, - 116.0 - ], - [ - 521.5, - 106.3 - ], - [ - 527.0, - 97.5 - ], - [ - 534.3, - 91.4 - ], - [ - 541.8, - 87.0 - ], - [ - 546.5, - 83.3 - ], - [ - 549.3, - 77.8 - ], - [ - 550.4, - 69.3 - ], - [ - 548.5, - 70.3 - ], - [ - 545.0, - 76.3 - ], - [ - 537.5, - 81.5 - ], - [ - 534.5, - 87.1 - ], - [ - 528.8, - 89.6 - ], - [ - 528.2, - 91.4 - ], - [ - 529.6, - 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By the time the jaws shut, the gripper site has moved +4.9 cm forward, -1.0 cm to the robot's left and -0.5 cm up from where it is now (path length 12.7 cm); in the top camera that is +5 px right and -11 px down. Gripper command: now 1.00 open; starts closing at +0.10 s and is shut (0.16) at +0.67 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.8577, - 0.2116, - 0.8428 - ], - "grasp_site_now_uv": [ - 249.2, - 161.3 - ], - "grasp_site_at_shut_xyz_m": [ - 0.9066, - 0.2014, - 0.8381 - ], - "grasp_site_at_shut_uv": [ - 254.5, - 149.9 - ], - "shut_in_top_view": true, - "close_onset_frame": 3, - "close_done_frame": 20, - "path_len_cm": 12.7, - "path_uv_every_3_frames": [ - [ - 247.3, - 140.1 - ], - [ - 246.8, - 135.4 - ], - [ - 247.8, - 132.5 - ], - [ - 250.4, - 130.9 - ], - [ - 252.8, - 133.6 - ], - [ - 254.3, - 138.9 - ], - [ - 254.7, - 146.0 - ], - [ - 254.5, - 149.9 - ], - [ - 254.5, - 149.9 - ], - [ - 254.5, - 149.9 - ], - [ - 254.5, - 149.9 - ], - [ - 254.5, - 149.9 - ], - [ - 254.5, - 149.9 - ], - [ - 254.5, - 149.9 - ], - [ - 254.5, - 149.9 - ], - [ - 254.5, - 149.9 - ], - [ - 254.5, - 149.9 - ], - [ - 254.5, - 149.9 - ], - [ - 254.5, - 149.9 - 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By the time the jaws shut, the gripper site has moved +0.8 cm forward, +0.7 cm to the robot's left and +1.2 cm up from where it is now (path length 4.0 cm); in the top camera that is -2 px right and -5 px down. Gripper command: now 0.97 open; starts closing at +0.00 s and is shut (0.23) at +1.47 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5054, - -0.0457, - 0.9982 - ], - "grasp_site_now_uv": [ - 338.0, - 238.0 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5133, - -0.0389, - 1.0099 - ], - "grasp_site_at_shut_uv": [ - 335.6, - 233.4 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 44, - "path_len_cm": 4.0, - "path_uv_every_3_frames": [ - [ - 342.5, - 235.1 - ], - [ - 343.2, - 235.3 - ], - [ - 342.6, - 235.3 - ], - [ - 342.2, - 235.1 - ], - [ - 342.1, - 235.0 - ], - [ - 341.3, - 235.3 - ], - [ - 340.7, - 234.7 - ], - [ - 340.4, - 234.3 - ], - [ - 340.1, - 234.6 - ], - [ - 339.7, - 235.0 - ], - [ - 338.9, - 235.5 - ], - [ - 337.7, - 235.3 - ], - [ - 336.3, - 234.9 - ], - [ - 335.8, - 234.1 - ], - [ - 335.9, - 233.5 - ], - [ - 335.6, - 233.4 - ], - [ - 335.6, - 233.4 - ], - [ - 335.6, - 233.4 - ], - [ - 335.6, - 233.4 - 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"text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -3.6 cm forward, +1.1 cm to the robot's left and -1.3 cm up from where it is now (path length 9.0 cm); in the top camera that is -5 px right and +18 px down. Gripper command: now 0.59 open; starts closing at +0.13 s and is shut (0.10) at +1.87 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4063, - -0.0939, - 0.8176 - ], - "grasp_site_now_uv": [ - 354.1, - 319.5 - ], - "grasp_site_at_shut_xyz_m": [ - 0.3703, - -0.0827, - 0.8047 - ], - "grasp_site_at_shut_uv": [ - 349.1, - 337.7 - ], - "shut_in_top_view": true, - "close_onset_frame": 4, - "close_done_frame": 56, - "path_len_cm": 9.0, - "path_uv_every_3_frames": [ - [ - 356.7, - 326.6 - ], - [ - 357.1, - 327.6 - ], - [ - 357.2, - 326.8 - ], - [ - 357.0, - 326.6 - ], - [ - 356.6, - 328.2 - ], - [ - 356.3, - 331.9 - ], - [ - 355.7, - 332.4 - ], - [ - 354.9, - 333.3 - ], - [ - 353.5, - 333.5 - ], - [ - 352.2, - 334.3 - ], - [ - 350.4, - 334.6 - ], - [ - 348.8, - 336.6 - ], - [ - 348.5, - 338.3 - ], - [ - 349.0, - 339.4 - ], - [ - 349.3, - 339.7 - ], - [ - 348.9, - 338.9 - ], - [ - 349.2, - 338.6 - ], - [ - 349.5, - 338.3 - ], - [ - 349.4, - 338.0 - 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By the time the jaws shut, the gripper site has moved +0.5 cm forward, -2.6 cm to the robot's left and +2.0 cm up from where it is now (path length 6.9 cm); in the top camera that is +25 px right and -12 px down. Gripper command: now 0.75 open; starts closing at +0.20 s and is shut (0.24) at +1.13 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.3894, - -0.1874, - 1.2471 - ], - "grasp_site_now_uv": [ - 470.7, - 212.5 - ], - "grasp_site_at_shut_xyz_m": [ - 0.3945, - -0.2135, - 1.2667 - ], - "grasp_site_at_shut_uv": [ - 495.5, - 200.3 - ], - "shut_in_top_view": true, - "close_onset_frame": 6, - "close_done_frame": 34, - "path_len_cm": 6.9, - "path_uv_every_3_frames": [ - [ - 477.7, - 200.0 - ], - [ - 481.2, - 197.7 - ], - [ - 485.5, - 195.3 - ], - [ - 489.1, - 202.2 - ], - [ - 488.8, - 205.9 - ], - [ - 489.7, - 205.3 - ], - [ - 492.2, - 204.9 - ], - [ - 495.0, - 205.4 - ], - [ - 497.6, - 206.3 - ], - [ - 497.5, - 205.9 - ], - [ - 497.8, - 202.6 - ], - [ - 496.6, - 200.7 - ], - [ - 495.5, - 200.3 - ], - [ - 495.5, - 200.3 - ], - [ - 495.5, - 200.3 - ], - [ - 495.5, - 200.3 - ], - [ - 495.5, - 200.3 - ], - [ - 495.5, - 200.3 - ], - [ - 495.5, - 200.3 - 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1.57568, - 0.91192, - 0.4324, - 0.20085, - 0.13523, - 0.57421 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +1.9 cm forward, -1.0 cm to the robot's left and +4.6 cm up from where it is now (path length 12.6 cm); in the top camera that is +4 px right and -17 px down. Gripper command: now 0.99 open; starts closing at +0.00 s and is shut (0.31) at +1.33 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.3797, - 0.0342, - 1.1017 - ], - "grasp_site_now_uv": [ - 307.6, - 254.0 - ], - "grasp_site_at_shut_xyz_m": [ - 0.3983, - 0.0243, - 1.1479 - ], - "grasp_site_at_shut_uv": [ - 311.3, - 237.4 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 40, - "path_len_cm": 12.6, - "path_uv_every_3_frames": [ - [ - 310.8, - 247.8 - ], - [ - 312.6, - 244.9 - ], - [ - 312.8, - 243.1 - ], - [ - 313.1, - 245.4 - ], - [ - 313.3, - 250.7 - ], - [ - 312.9, - 257.0 - ], - [ - 312.4, - 258.0 - ], - [ - 312.9, - 254.9 - ], - [ - 313.6, - 249.9 - ], - [ - 314.4, - 245.4 - ], - [ - 314.7, - 243.3 - ], - [ - 313.9, - 242.2 - ], - [ - 312.8, - 241.6 - ], - [ - 311.6, - 238.8 - ], - [ - 311.3, - 237.4 - ], - [ - 311.3, - 237.4 - ], - [ - 311.3, - 237.4 - ], - [ - 311.3, - 237.4 - ], - [ - 311.3, - 237.4 - 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By the time the jaws shut, the gripper site has moved +4.7 cm forward, +7.5 cm to the robot's left and -8.6 cm up from where it is now (path length 24.8 cm); in the top camera that is -49 px right and -5 px down. Gripper command: now 0.99 open; starts closing at +0.17 s and is shut (0.00) at +2.07 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.3759, - -0.1346, - 1.0365 - ], - "grasp_site_now_uv": [ - 403.6, - 293.5 - ], - "grasp_site_at_shut_xyz_m": [ - 0.423, - -0.0595, - 0.9503 - ], - "grasp_site_at_shut_uv": [ - 354.2, - 288.8 - ], - "shut_in_top_view": true, - "close_onset_frame": 5, - "close_done_frame": 62, - "path_len_cm": 24.8, - "path_uv_every_3_frames": [ - [ - 418.6, - 291.1 - ], - [ - 414.2, - 292.9 - ], - [ - 400.4, - 291.2 - ], - [ - 383.9, - 289.3 - ], - [ - 368.0, - 288.7 - ], - [ - 356.0, - 286.9 - ], - [ - 349.2, - 287.9 - ], - [ - 346.6, - 290.7 - ], - [ - 345.5, - 291.6 - ], - [ - 346.0, - 291.9 - ], - [ - 346.0, - 291.7 - ], - [ - 344.4, - 291.4 - ], - [ - 340.2, - 293.6 - ], - [ - 336.5, - 294.9 - ], - [ - 336.5, - 294.7 - ], - [ - 342.7, - 292.2 - ], - [ - 348.1, - 292.2 - ], - [ - 353.3, - 291.0 - ], - [ - 353.2, - 289.8 - 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0.09356, - 0.16874, - 0.0, - 1.06765, - 0.67495, - 1.03084, - -0.36202, - -0.29149, - -0.03525, - 0.07742 - ], - [ - -1.25481, - 1.10141, - 1.37756, - -0.83757, - 0.09356, - 0.16874, - 0.0, - 1.06765, - 0.67495, - 1.03084, - -0.36202, - -0.29149, - -0.03525, - 0.07742 - ] - ], - "state_t": [ - -1.25219, - 1.14004, - 1.4147, - -0.89017, - -0.13905, - 0.11997, - 0.6168, - 1.06794, - 0.7517, - 1.0359, - -0.5396, - -0.19322, - 0.01736, - 0.12088 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -3.9 cm forward, -1.1 cm to the robot's left and +0.6 cm up from where it is now (path length 2.6 cm); in the top camera that is +7 px right and +21 px down. Gripper command: now 0.62 open; starts closing at +0.03 s and is shut (0.00) at +0.50 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.3774, - 0.0067, - 1.0882 - ], - "grasp_site_now_uv": [ - 305.8, - 277.6 - ], - "grasp_site_at_shut_xyz_m": [ - 0.3387, - -0.0047, - 1.0945 - ], - "grasp_site_at_shut_uv": [ - 313.2, - 299.1 - ], - "shut_in_top_view": true, - "close_onset_frame": 1, - "close_done_frame": 15, - "path_len_cm": 2.6, - "path_uv_every_3_frames": [ - [ - 307.3, - 286.2 - ], - [ - 308.5, - 286.2 - ], - [ - 310.9, - 289.5 - ], - [ - 312.7, - 295.0 - ], - [ - 313.4, - 297.1 - ], - [ - 313.2, - 299.1 - ], - [ - 313.2, - 299.1 - ], - [ - 313.2, - 299.1 - ], - [ - 313.2, - 299.1 - ], - [ - 313.2, - 299.1 - ], - [ - 313.2, - 299.1 - ], - [ - 313.2, - 299.1 - ], - [ - 313.2, - 299.1 - ], - [ - 313.2, - 299.1 - ], - [ - 313.2, - 299.1 - ], - [ - 313.2, - 299.1 - ], - [ - 313.2, - 299.1 - ], - [ - 313.2, - 299.1 - ], - [ - 313.2, - 299.1 - 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By the time the jaws shut, the gripper site has moved +3.1 cm forward, -5.0 cm to the robot's left and +4.1 cm up from where it is now (path length 8.1 cm); in the top camera that is +22 px right and -21 px down. Gripper command: now 0.91 open; starts closing at +0.00 s and is shut (0.34) at +0.83 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.6247, - 0.0556, - 0.8579 - ], - "grasp_site_now_uv": [ - 302.8, - 225.0 - ], - "grasp_site_at_shut_xyz_m": [ - 0.6555, - 0.0059, - 0.899 - ], - "grasp_site_at_shut_uv": [ - 324.3, - 203.7 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 25, - "path_len_cm": 8.1, - "path_uv_every_3_frames": [ - [ - 301.8, - 222.6 - ], - [ - 305.2, - 222.5 - ], - [ - 309.6, - 219.9 - ], - [ - 314.2, - 215.0 - ], - [ - 318.6, - 210.0 - ], - [ - 320.7, - 207.1 - ], - [ - 322.6, - 205.2 - ], - [ - 322.5, - 204.0 - ], - [ - 323.4, - 203.8 - ], - [ - 324.3, - 203.7 - ], - [ - 324.3, - 203.7 - ], - [ - 324.3, - 203.7 - ], - [ - 324.3, - 203.7 - ], - [ - 324.3, - 203.7 - ], - [ - 324.3, - 203.7 - ], - [ - 324.3, - 203.7 - ], - [ - 324.3, - 203.7 - ], - [ - 324.3, - 203.7 - ], - [ - 324.3, - 203.7 - ], - 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By the time the jaws shut, the gripper site has moved +0.8 cm forward, +1.3 cm to the robot's left and -3.1 cm up from where it is now (path length 5.2 cm); in the top camera that is -3 px right and +2 px down. Gripper command: now 0.58 open; starts closing at +0.13 s and is shut (0.00) at +0.60 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5555, - 0.0451, - 0.8462 - ], - "grasp_site_now_uv": [ - 301.6, - 253.1 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5636, - 0.0584, - 0.8153 - ], - "grasp_site_at_shut_uv": [ - 298.3, - 255.3 - ], - "shut_in_top_view": true, - "close_onset_frame": 4, - "close_done_frame": 18, - "path_len_cm": 5.2, - "path_uv_every_3_frames": [ - [ - 299.2, - 257.5 - ], - [ - 299.1, - 259.0 - ], - [ - 299.6, - 259.9 - ], - [ - 299.5, - 259.2 - ], - [ - 298.9, - 258.2 - ], - [ - 298.1, - 256.9 - ], - [ - 298.3, - 255.3 - ], - [ - 298.3, - 255.3 - ], - [ - 298.3, - 255.3 - ], - [ - 298.3, - 255.3 - ], - [ - 298.3, - 255.3 - ], - [ - 298.3, - 255.3 - ], - [ - 298.3, - 255.3 - ], - [ - 298.3, - 255.3 - ], - [ - 298.3, - 255.3 - ], - [ - 298.3, - 255.3 - ], - [ - 298.3, - 255.3 - ], - [ - 298.3, - 255.3 - ], - [ - 298.3, - 255.3 - ], - 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1.28854, - 1.22723, - -0.09973, - -0.22083, - 0.34208, - 0.0 - ] - ], - "state_t": [ - -0.37747, - 0.59796, - 1.11372, - -0.59453, - 0.27676, - -0.66472, - 0.92118, - 1.61269, - 1.57645, - 1.4147, - -0.37289, - 0.67693, - 0.34733, - 0.02122 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -8.6 cm forward, +0.4 cm to the robot's left and +8.2 cm up from where it is now (path length 9.5 cm); in the top camera that is -30 px right and +21 px down. Gripper command: now 0.99 open; starts closing at +0.23 s and is shut (0.58) at +1.00 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4419, - 0.1849, - 1.167 - ], - "grasp_site_now_uv": [ - 302.0, - 214.1 - ], - "grasp_site_at_shut_xyz_m": [ - 0.3559, - 0.1888, - 1.2494 - ], - "grasp_site_at_shut_uv": [ - 272.4, - 235.4 - ], - "shut_in_top_view": true, - "close_onset_frame": 7, - "close_done_frame": 30, - "path_len_cm": 9.5, - "path_uv_every_3_frames": [ - [ - 305.2, - 221.1 - ], - [ - 302.9, - 226.1 - ], - [ - 298.1, - 229.9 - ], - [ - 293.7, - 233.4 - ], - [ - 287.1, - 238.1 - ], - [ - 282.4, - 240.4 - ], - [ - 282.3, - 238.9 - ], - [ - 284.0, - 237.6 - ], - [ - 283.0, - 236.3 - ], - [ - 278.4, - 235.2 - ], - [ - 272.4, - 235.4 - ], - [ - 272.4, - 235.4 - ], - [ - 272.4, - 235.4 - ], - [ - 272.4, - 235.4 - ], - [ - 272.4, - 235.4 - ], - [ - 272.4, - 235.4 - ], - [ - 272.4, - 235.4 - ], - [ - 272.4, - 235.4 - ], - [ - 272.4, - 235.4 - ], - 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By the time the jaws shut, the gripper site has moved -0.1 cm forward, -0.7 cm to the robot's left and -0.3 cm up from where it is now (path length 0.9 cm); in the top camera that is +3 px right and +1 px down. Gripper command: now 1.00 open; starts closing at +0.17 s and is shut (0.58) at +0.70 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4728, - -0.2061, - 0.9954 - ], - "grasp_site_now_uv": [ - 433.4, - 249.9 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4723, - -0.2132, - 0.9925 - ], - "grasp_site_at_shut_uv": [ - 436.9, - 250.8 - ], - "shut_in_top_view": true, - "close_onset_frame": 5, - "close_done_frame": 21, - "path_len_cm": 0.9, - "path_uv_every_3_frames": [ - [ - 437.0, - 251.4 - ], - [ - 437.5, - 251.3 - ], - [ - 438.2, - 251.3 - ], - [ - 438.4, - 251.2 - ], - [ - 438.5, - 250.9 - ], - [ - 437.4, - 251.0 - ], - [ - 437.5, - 251.2 - ], - [ - 436.9, - 250.8 - ], - [ - 436.9, - 250.8 - ], - [ - 436.9, - 250.8 - ], - [ - 436.9, - 250.8 - ], - [ - 436.9, - 250.8 - ], - [ - 436.9, - 250.8 - ], - [ - 436.9, - 250.8 - ], - [ - 436.9, - 250.8 - ], - [ - 436.9, - 250.8 - ], - [ - 436.9, - 250.8 - ], - [ - 436.9, - 250.8 - ], - [ - 436.9, - 250.8 - 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By the time the jaws shut, the gripper site has moved -0.6 cm forward, -1.8 cm to the robot's left and -1.6 cm up from where it is now (path length 4.4 cm); in the top camera that is +8 px right and +7 px down. Gripper command: now 0.86 open; starts closing at +0.00 s and is shut (0.44) at +0.57 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.7103, - -0.0009, - 0.9689 - ], - "grasp_site_now_uv": [ - 310.5, - 162.8 - ], - "grasp_site_at_shut_xyz_m": [ - 0.7038, - -0.0184, - 0.9531 - ], - "grasp_site_at_shut_uv": [ - 318.5, - 169.8 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 17, - "path_len_cm": 4.4, - "path_uv_every_3_frames": [ - [ - 309.5, - 159.9 - ], - [ - 310.7, - 166.6 - ], - [ - 312.3, - 170.0 - ], - [ - 312.6, - 171.6 - ], - [ - 313.5, - 171.7 - ], - [ - 315.7, - 171.2 - ], - [ - 318.5, - 169.8 - ], - [ - 318.5, - 169.8 - ], - [ - 318.5, - 169.8 - ], - [ - 318.5, - 169.8 - ], - [ - 318.5, - 169.8 - ], - [ - 318.5, - 169.8 - ], - [ - 318.5, - 169.8 - ], - [ - 318.5, - 169.8 - ], - [ - 318.5, - 169.8 - ], - [ - 318.5, - 169.8 - ], - [ - 318.5, - 169.8 - ], - [ - 318.5, - 169.8 - ], - [ - 318.5, - 169.8 - 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By the time the jaws shut, the gripper site has moved +5.7 cm forward, +1.6 cm to the robot's left and +0.6 cm up from where it is now (path length 9.0 cm); in the top camera that is -9 px right and -22 px down. Gripper command: now 0.99 open; starts closing at +0.00 s and is shut (0.05) at +0.90 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.6092, - -0.0957, - 1.0346 - ], - "grasp_site_now_uv": [ - 369.7, - 192.5 - ], - "grasp_site_at_shut_xyz_m": [ - 0.6663, - -0.0793, - 1.0401 - ], - "grasp_site_at_shut_uv": [ - 361.1, - 170.4 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 27, - "path_len_cm": 9.0, - "path_uv_every_3_frames": [ - [ - 368.4, - 189.8 - ], - [ - 360.7, - 192.2 - ], - [ - 359.7, - 193.3 - ], - [ - 360.1, - 191.9 - ], - [ - 360.0, - 188.6 - ], - [ - 359.6, - 184.1 - ], - [ - 359.8, - 178.8 - ], - [ - 359.5, - 174.4 - ], - [ - 359.3, - 171.9 - ], - [ - 361.1, - 170.4 - ], - [ - 361.1, - 170.4 - ], - [ - 361.1, - 170.4 - ], - [ - 361.1, - 170.4 - ], - [ - 361.1, - 170.4 - ], - [ - 361.1, - 170.4 - ], - [ - 361.1, - 170.4 - ], - [ - 361.1, - 170.4 - ], - [ - 361.1, - 170.4 - ], - [ - 361.1, - 170.4 - 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By the time the jaws shut, the gripper site has moved +0.5 cm forward, -2.1 cm to the robot's left and +1.7 cm up from where it is now (path length 12.5 cm); in the top camera that is +8 px right and -7 px down. Gripper command: now 1.00 open; starts closing at +0.10 s and is shut (0.28) at +1.27 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5931, - 0.3841, - 0.9829 - ], - "grasp_site_now_uv": [ - 132.0, - 200.0 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5984, - 0.3634, - 0.9998 - ], - "grasp_site_at_shut_uv": [ - 139.6, - 192.9 - ], - "shut_in_top_view": true, - "close_onset_frame": 3, - "close_done_frame": 38, - "path_len_cm": 12.5, - "path_uv_every_3_frames": [ - [ - 124.0, - 178.1 - ], - [ - 122.1, - 173.9 - ], - [ - 124.6, - 170.3 - ], - [ - 129.3, - 168.4 - ], - [ - 132.3, - 164.6 - ], - [ - 135.5, - 161.7 - ], - [ - 138.8, - 163.8 - ], - [ - 140.7, - 168.0 - ], - [ - 142.3, - 172.6 - ], - [ - 142.3, - 176.0 - ], - [ - 141.0, - 179.9 - ], - [ - 140.7, - 185.4 - ], - [ - 140.3, - 190.6 - ], - [ - 139.6, - 192.9 - ], - [ - 139.6, - 192.9 - ], - [ - 139.6, - 192.9 - ], - [ - 139.6, - 192.9 - ], - [ - 139.6, - 192.9 - ], - [ - 139.6, - 192.9 - 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By the time the jaws shut, the gripper site has moved -5.3 cm forward, +13.1 cm to the robot's left and +11.9 cm up from where it is now (path length 25.4 cm); in the top camera that is -47 px right and -8 px down. Gripper command: now 0.63 open; starts closing at +1.17 s and is shut (0.04) at +2.70 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.6082, - -0.2092, - 0.872 - ], - "grasp_site_now_uv": [ - 405.2, - 227.6 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5548, - -0.0781, - 0.9908 - ], - "grasp_site_at_shut_uv": [ - 357.8, - 219.3 - ], - "shut_in_top_view": true, - "close_onset_frame": 35, - "close_done_frame": 81, - "path_len_cm": 25.4, - "path_uv_every_3_frames": [ - [ - 407.2, - 224.7 - ], - [ - 410.0, - 223.5 - ], - [ - 411.8, - 222.1 - ], - [ - 412.4, - 221.1 - ], - [ - 411.1, - 221.5 - ], - [ - 406.9, - 222.9 - ], - [ - 398.4, - 226.8 - ], - [ - 385.4, - 233.1 - ], - [ - 373.5, - 235.6 - ], - [ - 366.8, - 232.8 - ], - [ - 362.6, - 229.3 - ], - [ - 361.1, - 224.6 - ], - [ - 360.7, - 221.6 - ], - [ - 360.0, - 220.1 - ], - [ - 359.7, - 219.1 - ], - [ - 360.9, - 219.1 - ], - [ - 360.9, - 219.2 - ], - [ - 360.9, - 218.8 - ], - [ - 360.6, - 217.9 - 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By the time the jaws shut, the gripper site has moved -3.3 cm forward, +5.3 cm to the robot's left and +2.5 cm up from where it is now (path length 10.6 cm); in the top camera that is -25 px right and +6 px down. Gripper command: now 1.00 open; starts closing at +0.20 s and is shut (0.20) at +1.97 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5463, - -0.1112, - 1.0735 - ], - "grasp_site_now_uv": [ - 383.0, - 200.0 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5133, - -0.0577, - 1.0984 - ], - "grasp_site_at_shut_uv": [ - 357.6, - 206.3 - ], - "shut_in_top_view": true, - "close_onset_frame": 6, - "close_done_frame": 59, - "path_len_cm": 10.6, - "path_uv_every_3_frames": [ - [ - 378.0, - 207.0 - ], - [ - 378.4, - 208.5 - ], - [ - 378.7, - 208.7 - ], - [ - 377.8, - 206.2 - ], - [ - 375.0, - 205.4 - ], - [ - 372.7, - 201.7 - ], - [ - 369.1, - 200.5 - ], - [ - 364.6, - 203.3 - ], - [ - 361.3, - 204.4 - ], - [ - 358.3, - 203.8 - ], - [ - 355.9, - 203.2 - ], - [ - 354.2, - 203.1 - ], - [ - 353.1, - 203.5 - ], - [ - 352.4, - 204.8 - ], - [ - 352.4, - 205.6 - ], - [ - 352.8, - 206.8 - ], - [ - 353.1, - 207.9 - ], - [ - 353.6, - 208.3 - ], - [ - 354.4, - 208.1 - 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By the time the jaws shut, the gripper site has moved +1.7 cm forward, +1.7 cm to the robot's left and -0.1 cm up from where it is now (path length 2.5 cm); in the top camera that is -7 px right and -6 px down. Gripper command: now 0.98 open; starts closing at +0.27 s and is shut (0.37) at +1.17 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5043, - -0.0062, - 0.7954 - ], - "grasp_site_now_uv": [ - 324.3, - 279.5 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5215, - 0.0106, - 0.7939 - ], - "grasp_site_at_shut_uv": [ - 317.7, - 273.7 - ], - "shut_in_top_view": true, - "close_onset_frame": 8, - "close_done_frame": 35, - "path_len_cm": 2.5, - "path_uv_every_3_frames": [ - [ - 324.1, - 274.0 - ], - [ - 322.5, - 273.9 - ], - [ - 321.8, - 273.2 - ], - [ - 321.6, - 272.5 - ], - [ - 321.0, - 272.1 - ], - [ - 319.7, - 272.5 - ], - [ - 319.1, - 273.3 - ], - [ - 318.6, - 273.4 - ], - [ - 318.3, - 273.3 - ], - [ - 318.3, - 273.3 - ], - [ - 318.1, - 273.5 - ], - [ - 317.8, - 273.7 - ], - [ - 317.7, - 273.7 - ], - [ - 317.7, - 273.7 - ], - [ - 317.7, - 273.7 - ], - [ - 317.7, - 273.7 - ], - [ - 317.7, - 273.7 - ], - [ - 317.7, - 273.7 - ], - [ - 317.7, - 273.7 - 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By the time the jaws shut, the gripper site has moved +16.5 cm forward, +3.8 cm to the robot's left and +6.1 cm up from where it is now (path length 28.1 cm); in the top camera that is -19 px right and -75 px down. Gripper command: now 0.87 open; starts closing at +0.17 s and is shut (0.09) at +2.47 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5598, - -0.2146, - 0.851 - ], - "grasp_site_now_uv": [ - 415.1, - 245.6 - ], - "grasp_site_at_shut_xyz_m": [ - 0.7249, - -0.1768, - 0.9124 - ], - "grasp_site_at_shut_uv": [ - 396.0, - 170.7 - ], - "shut_in_top_view": true, - "close_onset_frame": 5, - "close_done_frame": 74, - "path_len_cm": 28.1, - "path_uv_every_3_frames": [ - [ - 414.8, - 231.8 - ], - [ - 404.6, - 229.3 - ], - [ - 392.5, - 224.5 - ], - [ - 384.6, - 218.9 - ], - [ - 384.1, - 215.1 - ], - [ - 387.6, - 211.9 - ], - [ - 390.5, - 206.6 - ], - [ - 394.4, - 202.0 - ], - [ - 398.2, - 198.4 - ], - [ - 400.4, - 197.4 - ], - [ - 402.6, - 198.6 - ], - [ - 403.2, - 197.0 - ], - [ - 404.6, - 197.2 - ], - [ - 404.5, - 197.1 - ], - [ - 405.5, - 197.9 - ], - [ - 406.4, - 197.8 - ], - [ - 406.8, - 196.2 - ], - [ - 407.8, - 194.5 - ], - [ - 407.6, - 192.2 - 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-0.96189, - 0.55529 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -1.9 cm forward, +2.1 cm to the robot's left and +3.0 cm up from where it is now (path length 4.4 cm); in the top camera that is -9 px right and -5 px down. Gripper command: now 0.56 open; starts closing at +0.00 s and is shut (0.00) at +0.90 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.7396, - -0.1052, - 1.0826 - ], - "grasp_site_now_uv": [ - 374.5, - 120.9 - ], - "grasp_site_at_shut_xyz_m": [ - 0.7208, - -0.0844, - 1.1125 - ], - "grasp_site_at_shut_uv": [ - 365.9, - 116.2 - ], - "shut_in_top_view": true, - "close_onset_frame": 0, - "close_done_frame": 27, - "path_len_cm": 4.4, - "path_uv_every_3_frames": [ - [ - 382.5, - 104.4 - ], - [ - 382.1, - 106.2 - ], - [ - 382.4, - 107.0 - ], - [ - 380.6, - 109.0 - ], - [ - 379.3, - 110.0 - ], - [ - 377.9, - 111.0 - ], - [ - 375.2, - 112.5 - ], - [ - 372.9, - 112.9 - ], - [ - 369.9, - 114.4 - ], - [ - 365.9, - 116.2 - ], - [ - 365.9, - 116.2 - ], - [ - 365.9, - 116.2 - ], - [ - 365.9, - 116.2 - ], - [ - 365.9, - 116.2 - ], - [ - 365.9, - 116.2 - ], - [ - 365.9, - 116.2 - ], - [ - 365.9, - 116.2 - ], - [ - 365.9, - 116.2 - ], - [ - 365.9, - 116.2 - 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By the time the jaws shut, the gripper site has moved -8.4 cm forward, -21.3 cm to the robot's left and +4.2 cm up from where it is now (path length 30.4 cm); in the top camera that is +100 px right and +22 px down. Gripper command: now 0.86 open; starts closing at +1.13 s and is shut (0.30) at +2.27 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.6321, - 0.2342, - 0.9784 - ], - "grasp_site_now_uv": [ - 313.9, - 188.1 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5486, - 0.0215, - 1.0202 - ], - "grasp_site_at_shut_uv": [ - 414.3, - 209.9 - ], - "shut_in_top_view": true, - "close_onset_frame": 34, - "close_done_frame": 68, - "path_len_cm": 30.4, - "path_uv_every_3_frames": [ - [ - 313.5, - 182.2 - ], - [ - 314.1, - 182.8 - ], - [ - 314.1, - 182.8 - ], - [ - 314.1, - 182.8 - ], - [ - 316.4, - 183.7 - ], - [ - 316.2, - 182.1 - ], - [ - 316.8, - 182.7 - ], - [ - 326.3, - 183.4 - ], - [ - 349.6, - 188.6 - ], - [ - 369.8, - 198.0 - ], - [ - 382.2, - 202.1 - ], - [ - 392.3, - 208.2 - ], - [ - 399.8, - 211.1 - ], - [ - 403.6, - 211.9 - ], - [ - 405.6, - 213.9 - ], - [ - 406.7, - 213.4 - ], - [ - 409.0, - 215.1 - ], - [ - 411.2, - 215.5 - ], - [ - 412.0, - 215.6 - 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0.99859 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +6.2 cm forward, +8.4 cm to the robot's left and +2.2 cm up from where it is now (path length 14.8 cm); in the top camera that is -41 px right and -31 px down. Gripper command: now 1.00 open; starts closing at +0.10 s and is shut (0.00) at +1.37 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4966, - -0.2491, - 0.9038 - ], - "grasp_site_now_uv": [ - 544.9, - 261.9 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5586, - -0.1655, - 0.9263 - ], - "grasp_site_at_shut_uv": [ - 504.0, - 230.9 - ], - "shut_in_top_view": true, - "close_onset_frame": 3, - "close_done_frame": 41, - "path_len_cm": 14.8, - "path_uv_every_3_frames": [ - [ - 533.3, - 246.7 - ], - [ - 517.4, - 244.1 - ], - [ - 511.3, - 243.5 - ], - [ - 511.3, - 244.6 - ], - [ - 514.1, - 245.2 - ], - [ - 513.3, - 244.2 - ], - [ - 511.9, - 242.1 - ], - [ - 510.6, - 238.6 - ], - [ - 507.5, - 235.3 - ], - [ - 503.7, - 233.6 - ], - [ - 503.0, - 232.5 - ], - [ - 503.9, - 233.2 - ], - [ - 506.3, - 233.6 - ], - [ - 505.2, - 232.8 - ], - [ - 504.0, - 230.9 - ], - [ - 504.0, - 230.9 - ], - [ - 504.0, - 230.9 - ], - [ - 504.0, - 230.9 - ], - [ - 504.0, - 230.9 - 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By the time the jaws shut, the gripper site has moved -1.4 cm forward, +1.1 cm to the robot's left and +0.4 cm up from where it is now (path length 4.8 cm); in the top camera that is -7 px right and +6 px down. Gripper command: now 0.99 open; starts closing at +0.13 s and is shut (0.00) at +0.40 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4302, - 0.0627, - 1.0962 - ], - "grasp_site_now_uv": [ - 286.5, - 246.0 - ], - "grasp_site_at_shut_xyz_m": [ - 0.4158, - 0.0736, - 1.1004 - ], - "grasp_site_at_shut_uv": [ - 279.8, - 251.9 - ], - "shut_in_top_view": true, - "close_onset_frame": 4, - "close_done_frame": 12, - "path_len_cm": 4.8, - "path_uv_every_3_frames": [ - [ - 275.0, - 241.0 - ], - [ - 275.7, - 245.6 - ], - [ - 276.4, - 249.2 - ], - [ - 277.5, - 251.0 - ], - [ - 279.8, - 251.9 - ], - [ - 279.8, - 251.9 - ], - [ - 279.8, - 251.9 - ], - [ - 279.8, - 251.9 - ], - [ - 279.8, - 251.9 - ], - [ - 279.8, - 251.9 - ], - [ - 279.8, - 251.9 - ], - [ - 279.8, - 251.9 - ], - [ - 279.8, - 251.9 - ], - [ - 279.8, - 251.9 - ], - [ - 279.8, - 251.9 - ], - [ - 279.8, - 251.9 - ], - [ - 279.8, - 251.9 - ], - [ - 279.8, - 251.9 - ], - [ - 279.8, - 251.9 - ], - 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By the time the jaws shut, the gripper site has moved -1.1 cm forward, +16.3 cm to the robot's left and -4.7 cm up from where it is now (path length 29.0 cm); in the top camera that is -71 px right and +14 px down. Gripper command: now 0.76 open; starts closing at +1.70 s and is shut (0.61) at +2.27 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5638, - -0.0487, - 0.8558 - ], - "grasp_site_now_uv": [ - 348.7, - 248.4 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5531, - 0.1145, - 0.8087 - ], - "grasp_site_at_shut_uv": [ - 277.6, - 262.3 - ], - "shut_in_top_view": true, - "close_onset_frame": 51, - "close_done_frame": 68, - "path_len_cm": 29.0, - "path_uv_every_3_frames": [ - [ - 344.2, - 241.0 - ], - [ - 342.8, - 241.3 - ], - [ - 340.3, - 241.4 - ], - [ - 335.8, - 241.2 - ], - [ - 327.0, - 241.2 - ], - [ - 314.8, - 243.1 - ], - [ - 299.5, - 247.1 - ], - [ - 285.2, - 249.9 - ], - [ - 274.1, - 255.3 - ], - [ - 266.3, - 259.1 - ], - [ - 262.2, - 261.1 - ], - [ - 261.2, - 261.9 - ], - [ - 261.3, - 262.5 - ], - [ - 262.3, - 262.8 - ], - [ - 263.9, - 261.9 - ], - [ - 265.3, - 261.4 - ], - [ - 266.2, - 261.5 - ], - [ - 266.7, - 262.9 - ], - [ - 269.3, - 263.0 - 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By the time the jaws shut, the gripper site has moved -7.2 cm forward, +1.0 cm to the robot's left and +8.5 cm up from where it is now (path length 6.0 cm); in the top camera that is -10 px right and +8 px down. Gripper command: now 0.98 open; starts closing at +0.03 s and is shut (0.00) at +0.63 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.473, - 0.0757, - 1.065 - ], - "grasp_site_now_uv": [ - 293.2, - 228.1 - ], - "grasp_site_at_shut_xyz_m": [ - 0.401, - 0.0859, - 1.1498 - ], - "grasp_site_at_shut_uv": [ - 283.6, - 236.0 - ], - "shut_in_top_view": true, - "close_onset_frame": 1, - "close_done_frame": 19, - "path_len_cm": 6.0, - "path_uv_every_3_frames": [ - [ - 294.3, - 240.9 - ], - [ - 296.3, - 239.9 - ], - [ - 292.9, - 238.0 - ], - [ - 288.1, - 237.7 - ], - [ - 285.4, - 237.4 - ], - [ - 284.5, - 237.4 - ], - [ - 283.5, - 236.5 - ], - [ - 283.6, - 236.0 - ], - [ - 283.6, - 236.0 - ], - [ - 283.6, - 236.0 - ], - [ - 283.6, - 236.0 - ], - [ - 283.6, - 236.0 - ], - [ - 283.6, - 236.0 - ], - [ - 283.6, - 236.0 - ], - [ - 283.6, - 236.0 - ], - [ - 283.6, - 236.0 - ], - [ - 283.6, - 236.0 - ], - [ - 283.6, - 236.0 - ], - [ - 283.6, - 236.0 - ], - 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By the time the jaws shut, the gripper site has moved -29.9 cm forward, +6.1 cm to the robot's left and +1.7 cm up from where it is now (path length 44.5 cm); in the top camera that is -24 px right and +87 px down. Gripper command: now 0.99 open; starts closing at +0.17 s and is shut (0.02) at +2.53 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.8892, - -0.0352, - 0.9328 - ], - "grasp_site_now_uv": [ - 332.8, - 125.7 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5906, - 0.0259, - 0.9493 - ], - "grasp_site_at_shut_uv": [ - 308.8, - 212.8 - ], - "shut_in_top_view": true, - "close_onset_frame": 5, - "close_done_frame": 76, - "path_len_cm": 44.5, - "path_uv_every_3_frames": [ - [ - 332.2, - 104.7 - ], - [ - 332.8, - 113.6 - ], - [ - 332.8, - 129.4 - ], - [ - 335.8, - 149.0 - ], - [ - 337.6, - 168.0 - ], - [ - 338.9, - 181.1 - ], - [ - 340.2, - 196.2 - ], - [ - 340.3, - 209.1 - ], - [ - 339.5, - 217.6 - ], - [ - 338.6, - 220.0 - ], - [ - 333.0, - 220.0 - ], - [ - 326.7, - 218.2 - ], - [ - 321.1, - 216.1 - ], - [ - 317.2, - 214.4 - ], - [ - 313.7, - 213.8 - ], - [ - 312.0, - 212.8 - ], - [ - 310.9, - 211.6 - ], - [ - 309.2, - 211.2 - ], - [ - 308.5, - 211.0 - 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By the time the jaws shut, the gripper site has moved +2.5 cm forward, +0.8 cm to the robot's left and -1.3 cm up from where it is now (path length 11.6 cm); in the top camera that is -2 px right and -6 px down. Gripper command: now 0.65 open; starts closing at +0.27 s and is shut (0.10) at +1.57 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.5538, - 0.1106, - 1.0615 - ], - "grasp_site_now_uv": [ - 269.8, - 201.0 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5785, - 0.1185, - 1.0487 - ], - "grasp_site_at_shut_uv": [ - 267.6, - 195.0 - ], - "shut_in_top_view": true, - "close_onset_frame": 8, - "close_done_frame": 47, - "path_len_cm": 11.6, - "path_uv_every_3_frames": [ - [ - 263.7, - 203.7 - ], - [ - 265.9, - 210.2 - ], - [ - 267.6, - 207.5 - ], - [ - 268.8, - 202.4 - ], - [ - 265.5, - 199.5 - ], - [ - 264.1, - 197.5 - ], - [ - 264.9, - 195.9 - ], - [ - 266.0, - 198.3 - ], - [ - 266.4, - 197.7 - ], - [ - 265.7, - 197.3 - ], - [ - 264.6, - 197.5 - ], - [ - 261.4, - 197.2 - ], - [ - 260.0, - 196.4 - ], - [ - 262.1, - 196.4 - ], - [ - 262.5, - 195.8 - ], - [ - 266.3, - 195.0 - ], - [ - 267.6, - 195.0 - ], - [ - 267.6, - 195.0 - ], - [ - 267.6, - 195.0 - 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By the time the jaws shut, the gripper site has moved +0.8 cm forward, +5.2 cm to the robot's left and -2.8 cm up from where it is now (path length 15.5 cm); in the top camera that is -21 px right and +3 px down. Gripper command: now 0.57 open; starts closing at +1.10 s and is shut (0.02) at +2.20 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.6023, - -0.135, - 0.831 - ], - "grasp_site_now_uv": [ - 376.4, - 239.0 - ], - "grasp_site_at_shut_xyz_m": [ - 0.6107, - -0.0829, - 0.8033 - ], - "grasp_site_at_shut_uv": [ - 355.4, - 241.6 - ], - "shut_in_top_view": true, - "close_onset_frame": 33, - "close_done_frame": 66, - "path_len_cm": 15.5, - "path_uv_every_3_frames": [ - [ - 372.8, - 242.9 - ], - [ - 369.8, - 242.9 - ], - [ - 366.6, - 243.0 - ], - [ - 364.8, - 242.3 - ], - [ - 364.5, - 238.2 - ], - [ - 366.2, - 232.8 - ], - [ - 368.8, - 229.2 - ], - [ - 366.7, - 227.7 - ], - [ - 364.8, - 228.3 - ], - [ - 363.6, - 227.8 - ], - [ - 360.9, - 230.7 - ], - [ - 358.0, - 235.2 - ], - [ - 356.2, - 237.4 - ], - [ - 355.5, - 239.1 - ], - [ - 355.1, - 241.3 - ], - [ - 354.9, - 243.0 - ], - [ - 354.2, - 243.3 - ], - [ - 353.7, - 243.4 - ], - [ - 353.6, - 244.1 - 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By the time the jaws shut, the gripper site has moved +14.9 cm forward, +3.2 cm to the robot's left and -1.9 cm up from where it is now (path length 26.6 cm); in the top camera that is -19 px right and -44 px down. Gripper command: now 0.69 open; starts closing at +1.53 s and is shut (0.00) at +2.50 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.6656, - -0.173, - 0.9045 - ], - "grasp_site_now_uv": [ - 403.4, - 198.7 - ], - "grasp_site_at_shut_xyz_m": [ - 0.8142, - -0.1414, - 0.8853 - ], - "grasp_site_at_shut_uv": [ - 384.1, - 154.4 - ], - "shut_in_top_view": true, - "close_onset_frame": 46, - "close_done_frame": 75, - "path_len_cm": 26.6, - "path_uv_every_3_frames": [ - [ - 401.4, - 193.0 - ], - [ - 399.6, - 191.9 - ], - [ - 397.7, - 192.7 - ], - [ - 396.9, - 193.3 - ], - [ - 394.8, - 194.8 - ], - [ - 392.9, - 195.6 - ], - [ - 391.4, - 196.2 - ], - [ - 389.1, - 195.9 - ], - [ - 386.9, - 194.5 - ], - [ - 382.9, - 191.2 - ], - [ - 378.6, - 186.7 - ], - [ - 375.2, - 183.0 - ], - [ - 373.5, - 180.2 - ], - [ - 374.1, - 181.6 - ], - [ - 375.1, - 181.0 - ], - [ - 376.8, - 180.3 - ], - [ - 377.8, - 179.0 - ], - [ - 377.5, - 174.3 - ], - [ - 376.2, - 170.4 - 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By the time the jaws shut, the gripper site has moved +7.1 cm forward, -0.4 cm to the robot's left and -2.1 cm up from where it is now (path length 10.3 cm); in the top camera that is +1 px right and -27 px down. Gripper command: now 0.77 open; starts closing at +0.20 s and is shut (0.00) at +1.03 s; all targets are then held fixed for the rest of the chunk.", - "grasp_site_now_xyz_m": [ - 0.4579, - -0.0222, - 1.0078 - ], - "grasp_site_now_uv": [ - 339.2, - 258.2 - ], - "grasp_site_at_shut_xyz_m": [ - 0.5293, - -0.0258, - 0.9871 - ], - "grasp_site_at_shut_uv": [ - 340.2, - 230.7 - ], - "shut_in_top_view": true, - "close_onset_frame": 6, - "close_done_frame": 31, - "path_len_cm": 10.3, - "path_uv_every_3_frames": [ - [ - 344.8, - 241.7 - ], - [ - 348.7, - 236.3 - ], - [ - 348.0, - 228.9 - ], - [ - 347.1, - 224.0 - ], - [ - 346.3, - 222.9 - ], - [ - 344.5, - 222.6 - ], - [ - 344.4, - 224.2 - ], - [ - 344.1, - 226.3 - ], - [ - 344.4, - 228.3 - ], - [ - 343.4, - 229.4 - ], - [ - 341.2, - 229.9 - ], - [ - 340.2, - 230.7 - ], - [ - 340.2, - 230.7 - ], - [ - 340.2, - 230.7 - ], - [ - 340.2, - 230.7 - ], - [ - 340.2, - 230.7 - ], - [ - 340.2, - 230.7 - ], - [ - 340.2, - 230.7 - ], - [ - 340.2, - 230.7 - 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0.00512 - ], - [ - -0.52972, - 1.35861, - 0.42494, - 0.71405, - 0.48278, - -0.72277, - 0.85814, - 0.93802, - 1.02182, - 0.52752, - -0.04609, - 0.44301, - 0.41662, - 0.00512 - ], - [ - -0.52972, - 1.35861, - 0.42494, - 0.71405, - 0.48278, - -0.72277, - 0.85814, - 0.93802, - 1.02182, - 0.52752, - -0.04609, - 0.44301, - 0.41662, - 0.00512 - ] - ], - "state_t": [ - -0.38014, - 1.37503, - 0.99966, - -0.36069, - 0.09861, - -0.36679, - 0.00882, - 0.94205, - 1.02979, - 0.68837, - 0.1276, - 0.16575, - 0.20161, - 0.87922 - ], - "state_layout": "measured 14-D state at t, same column layout as actions", - "plan": { - "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +0.8 cm forward, -6.7 cm to the robot's left and -10.5 cm up from where it is now (path length 22.8 cm); in the top camera that is +28 px right and +20 px down. 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0.5056521739130435, - "success_recall": 0.62, - "failure_recall": 0.391304347826087, - "auroc": 0.49369565217391304, - "brier": 0.2585739583333332, - "ece_10_equal_width_bins": 0.07802083333333333, - "confusion_matrix": { - "true_success_pred_success": 31, - "true_success_pred_fail": 19, - "true_fail_pred_success": 28, - "true_fail_pred_fail": 18 - }, - "calibration": [ - { - "lower": 0.2, - "upper": 0.3, - "count": 1, - "mean_probability": 0.28, - "observed_success_rate": 0.0 - }, - { - "lower": 0.3, - "upper": 0.4, - "count": 12, - "mean_probability": 0.3575, - "observed_success_rate": 0.5 - }, - { - "lower": 0.4, - "upper": 0.5, - "count": 24, - "mean_probability": 0.4504166666666667, - "observed_success_rate": 0.5416666666666666 - }, - { - "lower": 0.5, - "upper": 0.6, - "count": 40, - "mean_probability": 0.5522500000000001, - "observed_success_rate": 0.55 - }, - { - "lower": 0.6, - "upper": 0.7, - "count": 17, - "mean_probability": 0.6341176470588235, - "observed_success_rate": 0.47058823529411764 - }, - { - "lower": 0.7, - "upper": 0.8, - "count": 2, - "mean_probability": 0.72, - "observed_success_rate": 0.5 - } - ] - } - } -} diff --git a/scored_predictions.jsonl b/scored_predictions.jsonl deleted file mode 100644 index 9a2143634e6db95c61b5aa954c9cdc64c4ea9660..0000000000000000000000000000000000000000 --- a/scored_predictions.jsonl +++ /dev/null @@ -1,302 +0,0 @@ -{"id": "s0000_e37154ab_r_1320", "success": true, "p_success": 0.58, "reason": "The bag material spans the jaw opening and the rising close could retain a fold, although the thin plastic may slip.", "actual_success": true, "correct": true, "type": "success_early", "task": "put_the_trash_bags_into_the_trash_bin"} -{"id": "s0001_3c2d9790_r_777", "success": true, "p_success": 0.64, "reason": "The hanger bar is between the jaws and the short closing motion appears able to clamp it.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "place_the_skirt_on_the_hanger"} -{"id": "s0002_574e02cc_r_1404", "success": false, "p_success": 0.35, "reason": "The jaws approach the plastic holder obliquely without a clearly isolated card edge between them.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "put_the_credit_cards_into_the_card_holder"} -{"id": "s0003_8b0fc929_l_1771", "success": false, "p_success": 0.42, "reason": "Only a thin filter edge reaches the jaw gap and the partial close may not secure it.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "place_the_coffee_filter_in_the_dripper"} -{"id": "s0004_7fe08c80_r_2090", "success": false, "p_success": 0.35, "reason": "The planned lateral sweep carries the gripper away from the visible shoe opening before closing.", "actual_success": true, "correct": false, "type": "success_early", "task": "place_and_organize_the_shoes_onto_the_shoe_shelf"} -{"id": "s0005_3ad71a45_l_2157", "success": true, "p_success": 0.52, "reason": "The long approach reaches the hanging fabric, but the clip contact is not yet clear.", "actual_success": true, "correct": true, "type": "success_early", "task": "remove_the_socks_clipped_to_the_hanger"} -{"id": "s0006_e3d7715b_r_443", "success": false, "p_success": 0.32, "reason": "The acting jaws face open rack wires and the rising lateral path lacks a clearly captured bowl rim.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "load_the_bowls_into_the_dish_rack"} -{"id": "s0007_de247e0f_l_1182", "success": true, "p_success": 0.72, "reason": "The cup is centered between the jaws and the modest downward approach should establish contact around its body.", "actual_success": true, "correct": true, "type": "success_early", "task": "pack_the_takeout_coffee"} -{"id": "s0008_229f977d_l_1860", "success": true, "p_success": 0.56, "reason": "The downward approach reaches the bowl at the rack edge, although wire clearance and the final jaw gap are uncertain.", "actual_success": true, "correct": true, "type": "success_early", "task": "unload_the_bowls_from_the_dish_rack"} -{"id": "s0009_201ea8d5_r_309", "success": false, "p_success": 0.48, "reason": "The approach reaches the wine-glass rack, but the stem is not yet centered and the partial close leaves uncertain purchase.", "actual_success": true, "correct": false, "type": "success_early", "task": "take_the_wine_glass_off_the_wine_glass_rack"} -{"id": "s0010_e84d0e9e_r_599", "success": false, "p_success": 0.38, "reason": "The slender utensil is off to one side of the acting jaws and the lateral close risks missing its shaft.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "sort_the_eating_utensils_into_containers"} -{"id": "s0011_3ad71a45_l_1965", "success": false, "p_success": 0.48, "reason": "The large sweep approaches the hanging sock but leaves the eventual clip engagement uncertain.", "actual_success": true, "correct": false, "type": "success_early", "task": "remove_the_socks_clipped_to_the_hanger"} -{"id": "s0012_da30fafe_r_135", "success": true, "p_success": 0.68, "reason": "The shoe heel lies within the jaw opening and the short closing motion should pinch the upper securely.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "place_and_organize_the_shoes_in_the_shoe_cabinet"} -{"id": "s0013_60f44a8d_r_1311", "success": true, "p_success": 0.65, "reason": "A substantial fold of trouser fabric fills the jaw gap and little translation is commanded during closure.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "fold_and_stack_the_trousers"} -{"id": "s0014_783d143d_r_3872", "success": false, "p_success": 0.44, "reason": "The lateral approach crosses the loaded rack and may contact a plate face or wire rather than isolate a rim.", "actual_success": true, "correct": false, "type": "success_early", "task": "load_the_plates_into_the_dish_rack"} -{"id": "s0015_9bd892f2_l_2676", "success": false, "p_success": 0.27, "reason": "The acting jaws are aligned with the stand post while the visible phone remains offset to the other side.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "remove_the_phone_from_the_phone_stand"} -{"id": "s0016_72caa26c_r_1586", "success": true, "p_success": 0.63, "reason": "The descending approach reaches a bottle body within the jaws, with some uncertainty from nearby loose bottles.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "put_the_plastic_bottles_in_the_bin"} -{"id": "s0017_3e3ef71b_l_963", "success": false, "p_success": 0.4, "reason": "The hanging sock remains above the jaw tips and the upward close may catch only its narrow loose edge.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "remove_the_socks_clipped_to_the_hanger"} -{"id": "s0018_9fb361dd_l_1215", "success": true, "p_success": 0.53, "reason": "The approach aims toward the suspended sock but the long lateral motion makes the final fabric engagement uncertain.", "actual_success": true, "correct": true, "type": "success_early", "task": "remove_the_socks_clipped_to_the_hanger"} -{"id": "s0020_4b894d76_l_144", "success": true, "p_success": 0.61, "reason": "The planned descent reaches the bouquet near its bundled stems, offering a plausible narrow grasp despite the wrapping.", "actual_success": true, "correct": true, "type": "success_early", "task": "place_the_flowers_into_the_vase"} -{"id": "s0021_4162fb80_l_1197", "success": true, "p_success": 0.67, "reason": "The shoe upper is presented between the jaws and the small final translation should permit a firm pinch.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "place_and_organize_the_shoes_in_the_shoe_cabinet"} -{"id": "s0022_6097ea6d_r_2209", "success": false, "p_success": 0.38, "reason": "The round fruit sits ahead of the jaw tips and the short upward partial close risks shallow contact.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "take_the_fake_fruits_out_of_the_plastic_bag"} -{"id": "s0023_9d438abd_r_2695", "success": false, "p_success": 0.46, "reason": "The bag edge is close to the jaws but the view does not show a strap or fold seated deeply enough for a reliable grip.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "pack_the_student_bag"} -{"id": "s0024_def1f3a4_r_2411", "success": false, "p_success": 0.43, "reason": "The long curved descent passes the luggage edge without a clearly aligned handle in the acting jaw gap.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "pack_the_luggage"} -{"id": "s0025_639efba9_l_60", "success": true, "p_success": 0.64, "reason": "The forward approach follows the hanging sock and can bring its lower fabric section into the closing jaws.", "actual_success": true, "correct": true, "type": "success_early", "task": "remove_the_socks_clipped_to_the_hanger"} -{"id": "s0026_a0479839_l_505", "success": false, "p_success": 0.36, "reason": "The gripper starts over the bin and sweeps toward its rim with no clearly isolated bottle body in the jaw opening.", "actual_success": true, "correct": false, "type": "success_early", "task": "put_the_plastic_bottles_in_the_bin"} -{"id": "s0027_fc205ec5_r_1500", "success": true, "p_success": 0.6, "reason": "The planned descent reaches the food in the tray and should place a piece between the jaws before closure.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "place_the_food_in_the_zip_top_bag_and_seal_the_zipper"} -{"id": "s0028_56cdadbf_l_2087", "success": false, "p_success": 0.37, "reason": "The shirt edge is ahead of the jaws and the large downward motion risks pushing it flat instead of enclosing a fold.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "fold_and_stack_the_t_shirts"} -{"id": "s0029_341d314b_l_2190", "success": true, "p_success": 0.62, "reason": "The shirt corner crosses the jaw opening and the modest downward close can pinch the fabric.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "fold_and_stack_the_t_shirts"} -{"id": "s0030_ef2e66d3_r_266", "success": true, "p_success": 0.58, "reason": "The approach descends toward the visible bottle cluster with sufficient opening to surround a bottle body.", "actual_success": true, "correct": true, "type": "success_early", "task": "put_the_plastic_bottles_in_the_bin"} -{"id": "s0031_0ae9b29a_l_93", "success": false, "p_success": 0.36, "reason": "The acting jaws face the rack framework below the bowls and the rising close risks clamping a wire or missing the rim.", "actual_success": true, "correct": false, "type": "success_early", "task": "unload_the_bowls_from_the_dish_rack"} -{"id": "s0032_b1279677_r_2138", "success": false, "p_success": 0.4, "reason": "The shirt edge is offset above the jaw gap and may slide away during the downward close.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "fold_and_stack_the_t_shirts"} -{"id": "s0033_eb01da60_r_297", "success": true, "p_success": 0.54, "reason": "The planned sweep returns toward the loose blocks, but the final block alignment is only weakly constrained by the current view.", "actual_success": true, "correct": true, "type": "success_early", "task": "sort_the_legos_into_containers_by_color"} -{"id": "s0034_1bc8e710_r_1233", "success": false, "p_success": 0.42, "reason": "The upright bottle remains ahead of the open jaws and the small upward motion may leave the close too shallow.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "put_the_plastic_bottles_in_the_bin"} -{"id": "s0035_535f2e48_l_1232", "success": true, "p_success": 0.61, "reason": "The black bag edge is visible across the gripper approach and the closing sweep can gather a fold.", "actual_success": true, "correct": true, "type": "success_early", "task": "put_the_trash_bags_into_the_trash_bin"} -{"id": "s0036_77729cd0_l_1081", "success": true, "p_success": 0.62, "reason": "The sock edge extends across the approaching jaws and the downward close can capture the fabric below the hanger.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "remove_the_socks_clipped_to_the_hanger"} -{"id": "s0037_5f3931f7_r_77", "success": false, "p_success": 0.43, "reason": "The flat card remains on the table ahead of the gripper and the approach may not get a jaw beneath its edge.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "put_the_credit_cards_into_the_card_holder"} -{"id": "s0038_5194b865_r_3505", "success": true, "p_success": 0.67, "reason": "The pen shaft is presented near the center of the jaw gap and the short closing motion should clamp it.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "insert_the_pens_into_the_pen_caps"} -{"id": "s0039_74f311ab_l_1380", "success": false, "p_success": 0.46, "reason": "The jaws approach the box and package edge together, making an isolated secure pickup uncertain.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "unpack_the_express_box"} -{"id": "s0040_c1ae0126_r_136", "success": true, "p_success": 0.61, "reason": "A bunched shirt section lies in the closing path and provides more material to pinch than a flat edge.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "fold_and_stack_the_t_shirts"} -{"id": "s0041_fce1b18b_l_120", "success": true, "p_success": 0.57, "reason": "The trouser fold is near the jaws and the lateral approach can gather it, although the long sweep could drag the fabric.", "actual_success": true, "correct": true, "type": "success_early", "task": "place_the_trousers_on_the_hanger"} -{"id": "s0042_eab39ed1_r_286", "success": false, "p_success": 0.39, "reason": "The thin sheet is poorly seated in the acting jaw gap and the upward lateral close risks sliding past its edge.", "actual_success": true, "correct": false, "type": "success_early", "task": "place_the_letter_into_the_envelope_and_seal_it"} -{"id": "s0043_59bd8f7c_r_2238", "success": true, "p_success": 0.63, "reason": "The jaws are positioned beneath the sock and clip area, and the small upward close offers a plausible pinch.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "clip_the_socks_to_the_hanger"} -{"id": "s0044_80e9d4f2_r_1085", "success": false, "p_success": 0.42, "reason": "The jaws approach the soft hat crown near the basket without a clearly isolated stiff brim.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "stack_the_hats"} -{"id": "s0045_857c5cd3_l_4161", "success": true, "p_success": 0.59, "reason": "The shirt edge lies across the jaw opening and the nearly stationary close can retain a fold.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "fold_and_stack_the_t_shirts"} -{"id": "s0046_4457a343_r_491", "success": true, "p_success": 0.53, "reason": "The approach moves toward the loose bottles, but clutter and the partial closure leave the final contact uncertain.", "actual_success": true, "correct": true, "type": "success_early", "task": "put_the_plastic_bottles_in_the_bin"} -{"id": "s0047_e2706a7a_r_831", "success": true, "p_success": 0.6, "reason": "The descending lateral approach targets a separated block with accessible opposing sides.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "sort_the_legos_into_containers_by_color"} -{"id": "s0048_851c71e4_l_3264", "success": false, "p_success": 0.39, "reason": "The bottle is offset toward one jaw and the upward partial close may fail to surround its body.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "put_the_plastic_bottles_in_the_bin"} -{"id": "s0049_df25bf3b_l_1955", "success": false, "p_success": 0.45, "reason": "The large lateral path moves away from the currently visible filter and its thin edge may not remain aligned at closure.", "actual_success": true, "correct": false, "type": "success_early", "task": "place_the_coffee_filter_in_the_dripper"} -{"id": "s0050_a43f2ed7_r_180", "success": true, "p_success": 0.57, "reason": "The descent reaches the cookie tray with room for the jaws to surround a cookie, though nearby pieces could interfere.", "actual_success": true, "correct": true, "type": "success_early", "task": "pack_the_cookies"} -{"id": "s0051_0c28c098_r_406", "success": false, "p_success": 0.42, "reason": "The downward approach is crowded by the dripper and the opposing gripper, with no clear isolated filter edge.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "place_the_coffee_filter_in_the_dripper"} -{"id": "s0052_2b47bdf1_l_43", "success": true, "p_success": 0.65, "reason": "The pasta package extends into the jaw opening and the forward descent can clamp its narrow middle.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "place_and_organize_the_pasta_boxes_and_bags_onto_the_shelf"} -{"id": "s0053_7fe08c80_r_1177", "success": true, "p_success": 0.54, "reason": "The planned descent returns from the shelf toward the floor shoes, but the long motion leaves the exact heel contact uncertain.", "actual_success": true, "correct": true, "type": "success_early", "task": "place_and_organize_the_shoes_onto_the_shoe_shelf"} -{"id": "s0054_4ab71f4f_l_1955", "success": false, "p_success": 0.48, "reason": "The descent targets the phone area, but the flat adjacent phones and partial close make edge capture uncertain.", "actual_success": true, "correct": false, "type": "success_early", "task": "put_the_phone_into_the_phone_case"} -{"id": "s0055_e01b6a85_r_858", "success": true, "p_success": 0.63, "reason": "The forward descent aligns the jaws with the isolated yellow block and offers opposing faces to clamp.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "sort_the_legos_into_containers_by_color"} -{"id": "s0056_773f0a91_r_366", "success": true, "p_success": 0.57, "reason": "The bag edge lies near the closing path and could be pinched, although the upward motion may reduce purchase.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "place_and_organize_the_chips_bags_onto_the_shelf"} -{"id": "s0057_3c8d02d9_r_1525", "success": false, "p_success": 0.35, "reason": "The jaws face a broad smooth pillow surface and close quickly without a distinct fold seated between them.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "put_the_pillow_into_the_pillowcase"} -{"id": "s0058_76d3a792_r_3251", "success": true, "p_success": 0.65, "reason": "The small case handle is close to the jaw opening and the modest approach should allow a firm handle grasp.", "actual_success": true, "correct": true, "type": "success_early", "task": "pack_the_luggage"} -{"id": "s0059_5cc31652_r_1884", "success": false, "p_success": 0.32, "reason": "The rising lateral close moves above the visible dish surface with no rim clearly enclosed by the acting jaws.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "unload_the_mixed_dishes_from_the_dish_rack"} -{"id": "s0060_4e3753ec_r_1761", "success": true, "p_success": 0.62, "reason": "The upright phone or case edge is presented between the grippers and the short forward close can clamp it.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "take_the_phone_out_of_the_phone_case"} -{"id": "s0061_8163928a_l_102", "success": false, "p_success": 0.48, "reason": "The transparent bag lip is near the tips, but its thin edge may slide out during the curved closing motion.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "place_the_food_in_the_zip_top_bag_and_seal_the_zipper"} -{"id": "s0062_cdb591e1_l_2315", "success": true, "p_success": 0.61, "reason": "The approach descends toward a can with accessible sides and a final gap consistent with grasping its body.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "place_and_organize_the_beverage_onto_the_shelf"} -{"id": "s0063_fad08c73_r_915", "success": true, "p_success": 0.7, "reason": "The square plate rim is seated between the jaws and the small closing motion should maintain that purchase.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "load_the_plates_into_the_dish_rack"} -{"id": "s0064_efac528c_l_2781", "success": false, "p_success": 0.43, "reason": "The filter is stretched between the arms but the acting jaws close only partway on a thin unsupported edge.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "place_the_coffee_filter_in_the_dripper"} -{"id": "s0065_087a6033_r_232", "success": true, "p_success": 0.58, "reason": "The lateral descent brings the gripper toward an exposed plate edge, though final rim depth remains uncertain.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "load_the_plates_into_the_dish_rack"} -{"id": "s0066_67363e39_r_1449", "success": false, "p_success": 0.47, "reason": "The planned sweep approaches the stationery but the thin pen is not yet centered in the acting jaws.", "actual_success": true, "correct": false, "type": "success_early", "task": "sort_the_stationery_into_containers"} -{"id": "s0067_ab243717_r_37", "success": true, "p_success": 0.67, "reason": "A large trouser fold already fills the jaw opening and can be retained as the gripper rises and closes.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "fold_and_stack_the_trousers"} -{"id": "s0068_1bc08f3a_l_2899", "success": false, "p_success": 0.38, "reason": "The phone is supported by the other arm while the acting jaws remain offset from its upper edge.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "put_the_phone_into_the_phone_case"} -{"id": "s0069_574e02cc_l_43", "success": false, "p_success": 0.45, "reason": "The long descent reaches a flat card on the table, where getting beneath the thin edge is uncertain.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "put_the_credit_cards_into_the_card_holder"} -{"id": "s0070_cf5dbbb2_l_773", "success": true, "p_success": 0.62, "reason": "The pillowcase lip is accessible around the exposed pillow and the lateral close can pinch that loose fabric.", "actual_success": true, "correct": true, "type": "success_early", "task": "remove_the_pillowcase_from_the_pillow"} -{"id": "s0071_9eb3d579_r_1805", "success": true, "p_success": 0.56, "reason": "The small case is presented near the acting jaws, but the opposing gripper and small target leave limited alignment tolerance.", "actual_success": true, "correct": true, "type": "success_early", "task": "insert_the_wireless_bluetooth_earbuds_into_the_charging_case"} -{"id": "s0072_7ddfc430_l_45", "success": false, "p_success": 0.44, "reason": "The bowl rim sits to one side of the acting jaws and the upward close may leave insufficient rim engagement.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "load_the_mixed_dishes_into_the_dish_rack"} -{"id": "s0073_d2d2b900_r_314", "success": false, "p_success": 0.47, "reason": "The orange is ahead of the jaw tips and the lateral motion risks nudging the round object instead of enclosing it.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "place_and_organize_the_fake_fruits_in_the_fruit_bowl"} -{"id": "s0074_d9e88f2b_r_2888", "success": false, "p_success": 0.34, "reason": "The long backward closing path moves away from the shirt edge visible above the jaws.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "fold_and_stack_the_t_shirts"} -{"id": "s0075_da30fafe_r_3289", "success": true, "p_success": 0.53, "reason": "The curved approach returns toward the shoes on the table, but the final shoe-edge alignment is uncertain.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "place_and_organize_the_shoes_in_the_shoe_cabinet"} -{"id": "s0076_a148394d_l_202", "success": true, "p_success": 0.51, "reason": "The descent reaches the cup area beside the coasters, although the handle is not yet visible within the jaws.", "actual_success": true, "correct": true, "type": "success_early", "task": "place_the_cup_by_the_coaster"} -{"id": "s0077_d639ed25_l_861", "success": false, "p_success": 0.48, "reason": "The approach enters the rack toward a cup, but the wires obscure whether a rim can be isolated.", "actual_success": true, "correct": false, "type": "success_early", "task": "unload_the_cups_from_the_dish_rack"} -{"id": "s0078_d8a035dc_r_3907", "success": true, "p_success": 0.56, "reason": "The forward approach reaches the exposed bowl rim on the rack with a plausible clearance for a pinch.", "actual_success": true, "correct": true, "type": "success_early", "task": "unload_the_bowls_from_the_dish_rack"} -{"id": "s0079_0edfb730_l_145", "success": false, "p_success": 0.44, "reason": "The lateral descent aims at a thin transparent bag edge whose final placement between the jaws is uncertain.", "actual_success": true, "correct": false, "type": "success_early", "task": "place_the_food_in_the_zip_top_bag_and_seal_the_zipper"} -{"id": "s0080_1fb60128_l_2836", "success": true, "p_success": 0.64, "reason": "The napkin corner is presented across the jaw opening and the small forward close should capture it.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "fold_the_napkin_into_a_case_and_place_the_utensils_inside"} -{"id": "s0081_cac4e017_r_1928", "success": true, "p_success": 0.64, "reason": "The sneaker heel is close to the jaw opening and the short forward close should pinch the upper.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "place_and_organize_the_shoes_in_the_shoe_cabinet"} -{"id": "s0082_639efba9_l_1032", "success": true, "p_success": 0.53, "reason": "The rising lateral approach reaches the hanging socks, but the clip is not yet visible within the acting jaws.", "actual_success": true, "correct": true, "type": "success_early", "task": "remove_the_socks_clipped_to_the_hanger"} -{"id": "s0083_a487c045_r_1576", "success": true, "p_success": 0.57, "reason": "The laundry-bag edge is accessible and the lateral motion could gather a fold, though the enclosed garment is not isolated.", "actual_success": true, "correct": true, "type": "success_early", "task": "unzip_the_laundry_bag_and_remove_the_bra"} -{"id": "s0084_6e11d932_l_2128", "success": true, "p_success": 0.68, "reason": "The structured hat brim lies between the jaw tips and the nearly stationary close should hold it.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "stack_the_hats"} -{"id": "s0085_536ca306_l_3929", "success": false, "p_success": 0.39, "reason": "The narrow straw bundle is ahead of the gripper and the substantial rise risks closing below or beside it.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "pack_the_takeout_coffee"} -{"id": "s0086_a6032fb9_r_1302", "success": true, "p_success": 0.58, "reason": "The white shirt edge is near the closing jaws and the modest downward motion can pinch a fold.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "fold_and_stack_the_t_shirts"} -{"id": "s0087_536ca306_r_2206", "success": true, "p_success": 0.62, "reason": "The cardboard carrier edge is presented in the jaw gap and can be clamped during the short lateral approach.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "pack_the_takeout_coffee"} -{"id": "s0088_ffcbdb4a_l_579", "success": false, "p_success": 0.46, "reason": "The descent enters a crowded canvas bag and the wide final gap may catch fabric or neighboring bottles instead of securing one.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "take_the_beverage_out_of_the_canvas_bag"} -{"id": "s0089_d0dea976_l_1743", "success": false, "p_success": 0.42, "reason": "The rapid diagonal descent reaches scattered small stationery with limited time to center an individual object.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "sort_the_stationery_into_containers"} -{"id": "s0090_201ea8d5_r_1955", "success": true, "p_success": 0.58, "reason": "The glass stem and rim are near the closing gap and the small translation offers a plausible grasp despite nearby rack hooks.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "take_the_wine_glass_off_the_wine_glass_rack"} -{"id": "s0091_31be0bf8_r_1054", "success": true, "p_success": 0.54, "reason": "The bottle body is ahead of the jaws and the modest close may secure it, though contact depth is unclear.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "put_the_plastic_bottles_in_the_bin"} -{"id": "s0092_eb50ba30_l_506", "success": false, "p_success": 0.4, "reason": "The narrow paper edge is nearly parallel to the jaws and may escape during the downward lateral close.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "place_the_letter_into_the_envelope_and_seal_it"} -{"id": "s0093_73992664_r_1084", "success": true, "p_success": 0.61, "reason": "The descending approach targets an exposed red block with space around its sides.", "actual_success": true, "correct": true, "type": "success_early", "task": "sort_the_legos_into_containers_by_color"} -{"id": "s0094_a921b7fb_l_259", "success": true, "p_success": 0.54, "reason": "The lateral descent reaches the bottle cluster, but neighboring bottles could deflect the target during closure.", "actual_success": true, "correct": true, "type": "success_early", "task": "put_the_plastic_bottles_in_the_bin"} -{"id": "s0095_6c74b0e5_l_514", "success": true, "p_success": 0.59, "reason": "The sock hangs close to the jaw opening and the approach can pinch its fabric below the clips.", "actual_success": true, "correct": true, "type": "success_early", "task": "remove_the_socks_clipped_to_the_hanger"} -{"id": "s0096_151d19a1_l_42", "success": false, "p_success": 0.43, "reason": "The shoe heel is offset from the acting jaw center and the short approach may catch only a shallow upper edge.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "place_and_organize_the_shoes_onto_the_shoe_shelf"} -{"id": "s0097_e1e09885_r_778", "success": true, "p_success": 0.57, "reason": "The planned descent reaches the trouser fabric with a plausible pinch point, though its flat placement makes purchase uncertain.", "actual_success": true, "correct": true, "type": "success_early", "task": "place_the_trousers_on_the_hanger"} -{"id": "s0098_0a4f3280_l_1543", "success": false, "p_success": 0.45, "reason": "The broad bouquet wrapper obscures the stems and the quick close may catch loose paper rather than the bundle.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "place_the_flowers_into_the_vase"} -{"id": "s0099_06c2a6a4_l_225", "success": true, "p_success": 0.58, "reason": "The book edge enters the jaw opening and the short descent can establish opposing contact along its thickness.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "stack_the_books_and_files"} -{"id": "s0100_e1b618d9_r_4279", "success": false, "p_success": 0.39, "reason": "The acting gripper is close to the stand hardware rather than clearly around the microphone body.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "remove_the_microphone_from_the_stand"} -{"id": "s0101_5b75d3bc_l_1974", "success": false, "p_success": 0.37, "reason": "The large downward motion carries the jaws below the visible flowers, with uncertain contact on the stems rather than the vase.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "place_the_flowers_into_the_vase"} -{"id": "s0102_4791bf12_r_559", "success": true, "p_success": 0.51, "reason": "The lateral approach reaches the clear cups, but their transparent rims make final jaw placement uncertain.", "actual_success": true, "correct": true, "type": "success_early", "task": "unload_the_cups_from_the_dish_rack"} -{"id": "s0103_35538f49_r_82", "success": false, "p_success": 0.42, "reason": "The path leaves the current food area and ends without a clearly visible object enclosed by the partial close.", "actual_success": true, "correct": false, "type": "success_early", "task": "place_the_food_in_the_zip_top_bag_and_seal_the_zipper"} -{"id": "s0104_3657d861_l_835", "success": false, "p_success": 0.4, "reason": "The jaws face plastic sleeves rather than an isolated card and may pinch the holder instead of extracting the card.", "actual_success": true, "correct": false, "type": "success_early", "task": "take_the_credit_cards_out_of_the_card_holder"} -{"id": "s0105_a487c045_r_1417", "success": true, "p_success": 0.63, "reason": "The garment or bag edge is already close to the jaws and the nearly stationary close should capture a fold.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "unzip_the_laundry_bag_and_remove_the_bra"} -{"id": "s0106_2224bb63_l_1159", "success": false, "p_success": 0.46, "reason": "The long approach targets a small brooch on the garment, requiring finer alignment than the current view establishes.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "remove_the_brooch_from_the_garment"} -{"id": "s0107_b73b8b9a_r_1487", "success": true, "p_success": 0.67, "reason": "The plate rim is accessible beside the rack and the short forward descent should bring it between the jaws.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "unload_the_plates_from_the_dish_rack"} -{"id": "s0108_d1a409ed_l_981", "success": true, "p_success": 0.58, "reason": "The filter edge is presented by the other gripper and the forward close can pinch the exposed paper.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "place_the_coffee_filter_in_the_dripper"} -{"id": "s0109_211e151e_r_868", "success": false, "p_success": 0.43, "reason": "The lateral rise heads toward the counter while the acting jaws do not yet surround a visible can.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "place_and_organize_the_canned_foods_onto_the_counter"} -{"id": "s0110_ed9685d6_r_3245", "success": true, "p_success": 0.72, "reason": "The stand tube is centered between the jaws and the short close should clamp the narrow rigid shaft.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "pack_up_the_instrument_practice_props"} -{"id": "s0111_a0fd5537_l_2471", "success": true, "p_success": 0.6, "reason": "The upright photo edge passes through the jaw opening and the rising close can retain it.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "put_the_photo_into_the_frame"} -{"id": "s0113_6e11d932_l_4669", "success": true, "p_success": 0.61, "reason": "The stitched brim lies across the jaw opening and offers a firmer pinch point than the crown.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "stack_the_hats"} -{"id": "s0114_cac4e017_l_2724", "success": false, "p_success": 0.42, "reason": "The approach reaches the shoe area but the wide final gap and nearby opposing arm make secure upper contact uncertain.", "actual_success": true, "correct": false, "type": "success_early", "task": "place_and_organize_the_shoes_in_the_shoe_cabinet"} -{"id": "s0115_19a97324_l_4405", "success": false, "p_success": 0.43, "reason": "The large descending sweep follows the bag surface, but the partial closure may not firmly pinch a handle or fold.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "pack_the_student_bag"} -{"id": "s0116_1bceaa4a_l_782", "success": true, "p_success": 0.68, "reason": "The white plug body is presented between the jaws and the small closing displacement should retain it.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "insert_the_plug"} -{"id": "s0117_6fd26635_l_898", "success": false, "p_success": 0.34, "reason": "The long lateral path ends near the container while the visible tools remain away from the acting jaw gap.", "actual_success": true, "correct": false, "type": "success_early", "task": "sort_the_tools_into_containers"} -{"id": "s0118_d7e22fa3_r_1827", "success": true, "p_success": 0.61, "reason": "The folded napkin edge is presented near the jaws and the modest forward descent can secure a fold.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "fold_the_napkin_place_the_utensils_inside_and_roll_it_up"} -{"id": "s0119_291e3ce8_l_3063", "success": true, "p_success": 0.64, "reason": "The shirt fabric extends into the jaw opening and a short downward close should retain it.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "fold_and_stack_the_t_shirts"} -{"id": "s0120_06c2a6a4_r_2323", "success": true, "p_success": 0.73, "reason": "The upright book is deeply seated between the jaws with broad opposing surfaces for a firm clamp.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "stack_the_books_and_files"} -{"id": "s0121_13fa6f16_r_660", "success": true, "p_success": 0.66, "reason": "The slender utensil shafts are aligned in the jaw gap and the short close should hold them.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "place_the_bread"} -{"id": "s0122_adf63b5a_r_2768", "success": false, "p_success": 0.43, "reason": "The rapid forward descent follows a moving towel edge and may close before a stable fold is seated.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "fold_and_stack_the_towels"} -{"id": "s0123_de975454_r_3029", "success": false, "p_success": 0.41, "reason": "The snack packet sits above the jaw tips and the nearly stationary close may pinch the paper bag instead.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "take_the_snacks_out_of_the_paper_bag"} -{"id": "s0124_28b36a8a_r_1809", "success": false, "p_success": 0.35, "reason": "The descending path is over the empty lid area rather than clearly aligned with a chocolate piece.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "pack_the_chocolate"} -{"id": "s0125_4b2c8d30_l_853", "success": true, "p_success": 0.59, "reason": "The downward approach reaches the hanging sock below the rack and offers an accessible fabric pinch.", "actual_success": true, "correct": true, "type": "success_early", "task": "remove_the_socks_clipped_to_the_hanger"} -{"id": "s0126_e1b618d9_l_5844", "success": false, "p_success": 0.36, "reason": "The jaws are crowded by the stand clamp and shaft while the microphone body is above the apparent grasp point.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "remove_the_microphone_from_the_stand"} -{"id": "s0127_eba3e1c6_r_1128", "success": true, "p_success": 0.61, "reason": "The shirt sleeve hangs into the closing region and the lateral approach can capture a substantial fold.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "place_the_shirt_on_the_hanger"} -{"id": "s0128_10c9120d_l_732", "success": true, "p_success": 0.69, "reason": "The rigid hanger bar is clearly between the jaws and the short closing motion should secure it.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "place_the_t_shirt_on_the_hanger"} -{"id": "s0129_4a24f295_l_1198", "success": true, "p_success": 0.55, "reason": "The box flap edge is near the jaw tips and could be pinched, though the nearby tool reduces clearance.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "unpack_the_express_box"} -{"id": "s0130_0b4d2400_l_2686", "success": true, "p_success": 0.54, "reason": "The bag film spans the jaw opening and can be pinched, but grasping the intended contents rather than the bag remains uncertain.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "open_the_zip_top_bag_and_remove_the_fake_food"} -{"id": "s0131_6c74b0e5_l_160", "success": true, "p_success": 0.66, "reason": "The hanging sock is centered near the jaw tips and the small closing motion can retain its fabric.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "remove_the_socks_clipped_to_the_hanger"} -{"id": "s0132_ffcbdb4a_l_2316", "success": true, "p_success": 0.62, "reason": "The descent reaches the relatively isolated bottle in the open bag with room to grasp its neck or body.", "actual_success": true, "correct": true, "type": "success_early", "task": "take_the_beverage_out_of_the_canvas_bag"} -{"id": "s0133_cb2f214a_l_1219", "success": true, "p_success": 0.69, "reason": "A thick folded garment section fills the jaw gap and the short descent should secure it.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "pack_the_luggage"} -{"id": "s0134_de247e0f_r_1642", "success": false, "p_success": 0.44, "reason": "The approach is crowded by the paper bag and cup carrier, obscuring a clean grasp of the intended item.", "actual_success": true, "correct": false, "type": "success_early", "task": "pack_the_takeout_coffee"} -{"id": "s0135_670c7cfd_l_2452", "success": true, "p_success": 0.61, "reason": "The descent approaches the shoe heel with open jaws positioned to pinch the upper.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "place_and_organize_the_shoes_in_the_shoe_cabinet"} -{"id": "s0136_b8480635_r_161", "success": false, "p_success": 0.37, "reason": "The long lateral sweep leaves the visible card holder and the wide final gap is poorly suited to a thin card edge.", "actual_success": true, "correct": false, "type": "success_early", "task": "put_the_credit_cards_into_the_card_holder"} -{"id": "s0137_f21a27ed_l_4013", "success": true, "p_success": 0.59, "reason": "The small charging case is presented near the jaw center and the nearly stationary close can capture its body.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "insert_the_wireless_bluetooth_earbuds_into_the_charging_case"} -{"id": "s0138_ed9685d6_r_2506", "success": false, "p_success": 0.43, "reason": "The jaws face the sheet and stand together, risking contact with the support instead of isolating the intended prop.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "pack_up_the_instrument_practice_props"} -{"id": "s0139_4162fb80_l_2996", "success": true, "p_success": 0.62, "reason": "The forward descent follows an accessible shoe opening and should allow a pinch on its upper edge.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "place_and_organize_the_shoes_in_the_shoe_cabinet"} -{"id": "s0140_fad08c73_l_1451", "success": true, "p_success": 0.67, "reason": "The upright plate rim is close to the jaw opening and the short close can clamp it with little disturbance.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "load_the_plates_into_the_dish_rack"} -{"id": "s0141_dde505d5_r_52", "success": false, "p_success": 0.31, "reason": "The quick descending close begins over the containers and leaves a wide gap without a block clearly between the jaws.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "sort_the_legos_into_containers_by_color"} -{"id": "s0142_80e9d4f2_r_887", "success": true, "p_success": 0.54, "reason": "The approach descends toward the hat brim, but the crown and layered fabric make the final purchase uncertain.", "actual_success": true, "correct": true, "type": "success_early", "task": "stack_the_hats"} -{"id": "s0143_c5902b4f_r_1682", "success": true, "p_success": 0.56, "reason": "The descent reaches the hanging shirt with material available to pinch, though neighboring hangers may interfere.", "actual_success": true, "correct": true, "type": "success_early", "task": "remove_the_shirt_from_the_hanger"} -{"id": "s0144_f2d7ca7c_l_1344", "success": true, "p_success": 0.63, "reason": "The phone edge is presented between the arms and the closing path can establish opposing contact along it.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "put_the_phone_into_the_phone_case"} -{"id": "s0145_8ab53d08_r_563", "success": false, "p_success": 0.42, "reason": "The phone remains above the jaw tips and the rising close may catch only its shallow lower edge.", "actual_success": true, "correct": false, "type": "success_early", "task": "put_the_phone_into_the_phone_case"} -{"id": "s0146_de93f8bb_r_333", "success": true, "p_success": 0.6, "reason": "The zipper strip and bag edge cross the jaw gap and the descending close can clamp that reinforced lip.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "open_the_zip_top_bag_and_remove_the_fake_food"} -{"id": "s0147_6a133e07_r_1809", "success": true, "p_success": 0.61, "reason": "The cardboard carrier wall is seated near the jaw tips and the modest rising close can retain its edge.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "pack_the_takeout_coffee"} -{"id": "s0148_17e585e7_r_5114", "success": true, "p_success": 0.67, "reason": "The folded paper plane has an exposed central ridge that the descending jaws can pinch.", "actual_success": true, "correct": true, "type": "success_early", "task": "fold_a_paper_plane_with_a_square_sheet_of_paper_pick_it_up_from_the_middle"} -{"id": "s0149_7e7b0cb8_l_1588", "success": false, "p_success": 0.48, "reason": "The approach crosses a crowded bowl-and-cup arrangement and may contact more than the intended rim.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "place_the_mixed_dishes_into_the_plastic_bin"} -{"id": "s0150_de93f8bb_r_3323", "success": false, "p_success": 0.38, "reason": "The backward sweep moves away from the centered apple before the jaws finish closing.", "actual_success": true, "correct": false, "type": "success_at_decision", "task": "open_the_zip_top_bag_and_remove_the_fake_food"} -{"id": "s0151_3c8d02d9_r_56", "success": true, "p_success": 0.65, "reason": "The pillowcase is bunched between the grippers and the closing motion can secure a substantial fabric fold.", "actual_success": true, "correct": true, "type": "success_at_decision", "task": "put_the_pillow_into_the_pillowcase"} -{"id": "s0152_535f2e48_l_1556", "success": false, "p_success": 0.46, "reason": "The long lateral rise reaches across the loose bag, but the final closure lacks a clearly stable film pinch.", "actual_success": false, "correct": true, "type": "fail_early", "task": "put_the_trash_bags_into_the_trash_bin"} -{"id": "s0154_df25bf3b_l_2272", "success": false, "p_success": 0.4, "reason": "The acting jaws approach the dripper without a clearly isolated filter edge and may close on the rim or empty space.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "place_the_coffee_filter_in_the_dripper"} -{"id": "s0155_e55cc103_r_3020", "success": true, "p_success": 0.72, "reason": "The paper plane central fold is visibly seated between the jaws and the closing motion should retain it.", "actual_success": false, "correct": false, "type": "fail_early", "task": "fold_a_paper_plane_with_a_square_sheet_of_paper_pick_it_up_from_the_middle"} -{"id": "s0156_58641195_r_3330", "success": true, "p_success": 0.56, "reason": "The closing sweep follows the bag edge and may gather a fold, though the dark material obscures contact depth.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "pack_the_student_bag"} -{"id": "s0157_3e6588d1_r_625", "success": true, "p_success": 0.64, "reason": "The shoe upper is accessible in front of the jaws and the forward lateral approach can position it for a firm pinch.", "actual_success": false, "correct": false, "type": "fail_early", "task": "place_and_organize_the_shoes_onto_the_shoe_shelf"} -{"id": "s0158_3e3ef71b_r_515", "success": true, "p_success": 0.55, "reason": "The forward rise reaches the hanging sock, but the rack and other gripper constrain clearance near the clip.", "actual_success": false, "correct": false, "type": "fail_early", "task": "remove_the_socks_clipped_to_the_hanger"} -{"id": "s0159_9ee38324_r_396", "success": false, "p_success": 0.35, "reason": "The acting jaws face empty tabletop and the planned endpoint does not clearly enclose the bowl held by the other arm.", "actual_success": false, "correct": true, "type": "fail_early", "task": "load_the_bowls_into_the_dish_rack"} -{"id": "s0160_b979041a_l_954", "success": false, "p_success": 0.43, "reason": "The cup is tilted between closely spaced grippers and the approach may catch only the lid edge rather than its body.", "actual_success": false, "correct": true, "type": "fail_early", "task": "pack_the_takeout_coffee"} -{"id": "s0161_d8a035dc_l_3871", "success": false, "p_success": 0.44, "reason": "The bowl is ahead of the jaw tips and the short upward close may miss its exposed rim.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "unload_the_bowls_from_the_dish_rack"} -{"id": "s0162_8571cadc_r_3053", "success": false, "p_success": 0.35, "reason": "The rack rod occupies the acting jaw opening while the glass hangs off to the side.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "take_the_wine_glass_off_the_wine_glass_rack"} -{"id": "s0163_f393f277_l_1704", "success": false, "p_success": 0.34, "reason": "The final commanded opening remains wide for a slender utensil and no handle is centered in the acting jaws.", "actual_success": false, "correct": true, "type": "fail_early", "task": "sort_the_eating_utensils_into_containers"} -{"id": "s0164_6c74b0e5_l_3213", "success": true, "p_success": 0.6, "reason": "The sock cuff is close to the jaw tips and the short approach can pinch it below the clip.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "remove_the_socks_clipped_to_the_hanger"} -{"id": "s0165_670c7cfd_l_2750", "success": false, "p_success": 0.43, "reason": "The shoe is above and ahead of the jaw tips and the rising partial close risks shallow contact.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "place_and_organize_the_shoes_in_the_shoe_cabinet"} -{"id": "s0166_ab243717_l_486", "success": true, "p_success": 0.66, "reason": "The trouser fold spans the jaw opening and the short downward close should capture enough fabric.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "fold_and_stack_the_trousers"} -{"id": "s0167_44f10ba9_r_2568", "success": false, "p_success": 0.4, "reason": "The plate edge is crowded against the plastic rack and the jaw path may hit the support before enclosing the rim.", "actual_success": false, "correct": true, "type": "fail_early", "task": "load_the_plates_into_the_dish_rack"} -{"id": "s0168_da3c148e_l_1306", "success": false, "p_success": 0.38, "reason": "The acting jaws approach the stand hardware with the phone edge obscured by the opposing gripper.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "remove_the_phone_from_the_phone_stand"} -{"id": "s0169_1c759f54_l_1145", "success": false, "p_success": 0.47, "reason": "The rising lateral sweep crosses a loose bottle cluster, leaving uncertain whether a bottle is captured before being displaced.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "put_the_plastic_bottles_in_the_bin"} -{"id": "s0170_639efba9_l_2444", "success": false, "p_success": 0.41, "reason": "The hanger frame dominates the jaw opening and the sock clip is only shallowly aligned at the tips.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "remove_the_socks_clipped_to_the_hanger"} -{"id": "s0171_3e3ef71b_r_212", "success": true, "p_success": 0.57, "reason": "The forward approach reaches the suspended sock and clip area, although the hanger frame limits clearance.", "actual_success": false, "correct": false, "type": "fail_early", "task": "remove_the_socks_clipped_to_the_hanger"} -{"id": "s0172_02801c08_r_2217", "success": true, "p_success": 0.6, "reason": "The narrow clip or fabric edge lies near the centerline and the small downward close can retain it.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "remove_the_underwear_clipped_to_the_hanger"} -{"id": "s0173_3cc152a2_l_2139", "success": true, "p_success": 0.58, "reason": "The flower stems lie along the approaching jaws and could be clamped below the blossoms despite nearby vase contact.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "place_the_flowers_into_the_vase"} -{"id": "s0174_f26fd9fb_r_2206", "success": false, "p_success": 0.45, "reason": "The bag film covers the approaching jaws and may be caught before the intended fruit is securely enclosed.", "actual_success": false, "correct": true, "type": "fail_early", "task": "take_the_fake_fruits_out_of_the_plastic_bag"} -{"id": "s0175_4e0da4f2_r_1338", "success": false, "p_success": 0.47, "reason": "The gripper approaches the bag mouth obliquely and the intended item is not clearly isolated from the fabric edge.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "pack_the_student_bag"} -{"id": "s0176_f904c81f_r_290", "success": false, "p_success": 0.33, "reason": "The long forward sweep ends beyond the visible objects without a clear item seated between the jaws.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "pack_the_luggage"} -{"id": "s0177_9fb361dd_l_193", "success": true, "p_success": 0.62, "reason": "The sock and clip are close to the jaw opening and the small upward close offers a plausible secure pinch.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "remove_the_socks_clipped_to_the_hanger"} -{"id": "s0178_def1f3a4_l_3806", "success": false, "p_success": 0.44, "reason": "The large lateral descent reaches the suitcase edge with no handle clearly centered in the partially closing jaws.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "pack_the_luggage"} -{"id": "s0179_a921b7fb_r_2469", "success": true, "p_success": 0.59, "reason": "The bottle body spans the jaw region and the descending close can establish contact, though the bin is crowded.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "put_the_plastic_bottles_in_the_bin"} -{"id": "s0180_2b721695_r_2425", "success": false, "p_success": 0.45, "reason": "The jaws approach the bag edge beside the basket while the intended food remains obscured by plastic.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "place_the_food_in_the_zip_top_bag_and_seal_the_zipper"} -{"id": "s0181_c414104e_l_457", "success": true, "p_success": 0.61, "reason": "The black shirt corner lies across the closing jaw region and the short forward motion can capture it.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "fold_and_stack_the_t_shirts"} -{"id": "s0182_f200079e_l_2586", "success": true, "p_success": 0.68, "reason": "A bunched section of shirt is presented between the jaws and the descent should establish a substantial pinch.", "actual_success": false, "correct": false, "type": "fail_early", "task": "fold_and_stack_the_t_shirts"} -{"id": "s0183_8e282731_l_2431", "success": true, "p_success": 0.67, "reason": "The bottle body is centered between the open jaws and the small displacement should preserve alignment during closure.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "put_the_plastic_bottles_in_the_bin"} -{"id": "s0184_d8a035dc_l_237", "success": false, "p_success": 0.47, "reason": "The diagonal descent passes beneath the rack toward a bowl, but the other gripper and rack legs obscure clean rim access.", "actual_success": false, "correct": true, "type": "fail_early", "task": "unload_the_bowls_from_the_dish_rack"} -{"id": "s0185_9f523d1d_l_1804", "success": true, "p_success": 0.58, "reason": "The approach follows a raised shirt fold that can enter the jaws, though the longer path may drag it.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "fold_and_stack_the_t_shirts"} -{"id": "s0186_2e1d34ec_r_836", "success": true, "p_success": 0.54, "reason": "The descent reaches graspable blocks, but overlapping pieces leave the target and opposing contacts uncertain.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "sort_the_legos_into_containers_by_color"} -{"id": "s0187_9a8ca9d4_r_551", "success": false, "p_success": 0.45, "reason": "The long lateral sweep moves from the bin toward the other arm with uncertain capture of a single bottle.", "actual_success": false, "correct": true, "type": "fail_early", "task": "put_the_plastic_bottles_in_the_bin"} -{"id": "s0188_02801c08_l_1522", "success": true, "p_success": 0.63, "reason": "The narrow clip is presented close to the jaw center and the modest closing motion should retain it.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "remove_the_underwear_clipped_to_the_hanger"} -{"id": "s0189_0bc1bd7e_r_377", "success": true, "p_success": 0.52, "reason": "The bag film reaches the closing region, but the upward motion may pull the jaws away before a deep fold is secured.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "put_the_trash_bags_into_the_trash_bin"} -{"id": "s0190_cfe85fb7_l_487", "success": true, "p_success": 0.58, "reason": "The sock hangs near the approaching jaws and the modest forward close can pinch its fabric below the clip.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "remove_the_socks_clipped_to_the_hanger"} -{"id": "s0191_fe0cd63d_r_1390", "success": false, "p_success": 0.41, "reason": "The card remains inside a plastic sleeve and the close may grasp the sleeve rather than the card itself.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "put_the_credit_cards_into_the_card_holder"} -{"id": "s0192_92af51ef_l_5195", "success": true, "p_success": 0.61, "reason": "The pen is presented near the jaw centerline and the small upward close offers a plausible shaft grasp.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "insert_the_pens_into_the_pen_caps"} -{"id": "s0193_d3a650ba_l_4788", "success": false, "p_success": 0.39, "reason": "The jaws face the box wall while the small contents remain deeper inside, risking a flap grasp rather than a pickup.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "unpack_the_express_box"} -{"id": "s0194_84fe68d9_r_1345", "success": false, "p_success": 0.44, "reason": "The lateral closing motion follows a shallow shirt edge that may slide away from the jaw tips.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "fold_and_stack_the_t_shirts"} -{"id": "s0195_0f98afa3_l_633", "success": true, "p_success": 0.59, "reason": "The trouser cuff lies close to the jaws and the nearly stationary close can retain its hem.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "place_the_trousers_on_the_hanger"} -{"id": "s0196_eb50ba30_l_4210", "success": true, "p_success": 0.62, "reason": "The narrow cylindrical item is presented along the jaw centerline and can be clamped during the short close.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "place_the_letter_into_the_envelope_and_seal_it"} -{"id": "s0197_7d96f1e1_r_55", "success": true, "p_success": 0.57, "reason": "The forward approach reaches a sock fold near the tray edge with a plausible fabric pinch point.", "actual_success": false, "correct": false, "type": "fail_early", "task": "clip_the_socks_to_the_hanger"} -{"id": "s0198_1369e8ef_r_1417", "success": false, "p_success": 0.35, "reason": "The jaws face the soft cap crown and rise substantially while only partially closing, risking a shallow fabric pinch.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "stack_the_hats"} -{"id": "s0199_a39aeb5c_r_5527", "success": true, "p_success": 0.56, "reason": "The forward descent reaches the shirt edge and may gather fabric, although the rapid motion reduces alignment margin.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "fold_and_stack_the_t_shirts"} -{"id": "s0200_0f4ed64f_r_318", "success": true, "p_success": 0.6, "reason": "The descent targets a bottle body that is visible within the open jaw region, with some risk from neighboring bottles.", "actual_success": false, "correct": false, "type": "fail_early", "task": "put_the_plastic_bottles_in_the_bin"} -{"id": "s0201_47d81e9a_l_853", "success": true, "p_success": 0.59, "reason": "A green block is positioned near the jaw gap and the short close can clamp its opposing sides.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "sort_the_legos_into_containers_by_color"} -{"id": "s0202_1c759f54_l_166", "success": false, "p_success": 0.49, "reason": "The long curved approach crosses several loose bottles, leaving uncertain which body remains aligned at closure.", "actual_success": false, "correct": true, "type": "fail_early", "task": "put_the_plastic_bottles_in_the_bin"} -{"id": "s0203_8be6027b_l_735", "success": true, "p_success": 0.62, "reason": "The filter edge is visibly presented near the jaws and the small downward close can pinch it against the opposing pad.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "place_the_coffee_filter_in_the_dripper"} -{"id": "s0204_8875a33e_r_3917", "success": false, "p_success": 0.38, "reason": "The downward path reaches the box area without a cookie clearly seated in the acting jaw opening.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "pack_the_cookies"} -{"id": "s0205_2b4e68b0_l_2026", "success": true, "p_success": 0.57, "reason": "The folded filter edge lies across the jaws and could be retained through the backward close, though the long translation may displace it.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "place_the_coffee_filter_in_the_dripper"} -{"id": "s0206_03fe0bdc_r_48", "success": false, "p_success": 0.43, "reason": "The upward close starts beside overlapping pasta packages and may rise before a package is deeply enclosed.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "place_and_organize_the_pasta_boxes_and_bags_onto_the_shelf"} -{"id": "s0207_3c253aa6_r_3527", "success": true, "p_success": 0.61, "reason": "The sneaker heel is aligned near the jaw gap and the nearly stationary close can pinch its upper.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "place_and_organize_the_shoes_onto_the_shoe_shelf"} -{"id": "s0208_1bc08f3a_r_1693", "success": true, "p_success": 0.63, "reason": "The upright phone edge is accessible between the arms and the closing approach can provide opposing contact.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "put_the_phone_into_the_phone_case"} -{"id": "s0209_8f375293_r_1102", "success": true, "p_success": 0.57, "reason": "The backward descent returns to separated blocks on the table with space to enclose one.", "actual_success": false, "correct": false, "type": "fail_early", "task": "sort_the_legos_into_containers_by_color"} -{"id": "s0210_5a2a6fe4_l_1202", "success": true, "p_success": 0.55, "reason": "The packet edge reaches the jaw region and could be pinched, though the partial closure and shelf proximity reduce certainty.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "place_and_organize_the_chips_bags_onto_the_shelf"} -{"id": "s0211_bcf9b832_r_2033", "success": true, "p_success": 0.59, "reason": "The pillowcase lip is gathered between the arms and the close can capture a fold despite the curved approach.", "actual_success": false, "correct": false, "type": "fail_early", "task": "put_the_pillow_into_the_pillowcase"} -{"id": "s0212_f904c81f_r_1316", "success": false, "p_success": 0.41, "reason": "The jaws approach the suitcase interior without a clearly isolated object or fabric fold in the closing gap.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "pack_the_luggage"} -{"id": "s0213_47175a6c_r_359", "success": true, "p_success": 0.64, "reason": "The exposed plate rim is near the acting jaw center and the short lateral close should clamp it.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "unload_the_mixed_dishes_from_the_dish_rack"} -{"id": "s0214_243a8d2c_r_1386", "success": false, "p_success": 0.46, "reason": "The rising lateral approach starts above flat phones and does not yet establish a secure edge between the jaws.", "actual_success": false, "correct": true, "type": "fail_early", "task": "take_the_phone_out_of_the_phone_case"} -{"id": "s0215_a4aabe0d_r_1267", "success": true, "p_success": 0.52, "reason": "The apple is aligned ahead of the jaws, but the long rising approach leaves uncertainty about enclosing its rounded body.", "actual_success": false, "correct": false, "type": "fail_early", "task": "place_the_food_in_the_zip_top_bag_and_seal_the_zipper"} -{"id": "s0216_d0e786a9_r_849", "success": false, "p_success": 0.44, "reason": "The bottle is offset ahead of the jaws near the shelf and the short partial close may not surround its body.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "place_and_organize_the_beverage_onto_the_shelf"} -{"id": "s0217_ec382b70_r_870", "success": false, "p_success": 0.39, "reason": "The jaw opening is aligned with rack wires rather than a clearly isolated plate rim.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "load_the_plates_into_the_dish_rack"} -{"id": "s0218_6214e1ab_r_2424", "success": false, "p_success": 0.45, "reason": "The descending lateral approach reaches the dripper area, but the filter is not clearly presented between the acting jaws.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "place_the_coffee_filter_in_the_dripper"} -{"id": "s0219_44f10ba9_l_4318", "success": true, "p_success": 0.62, "reason": "The exposed plate edge is close to the jaws and the planned close can establish opposing rim contact.", "actual_success": false, "correct": false, "type": "fail_early", "task": "load_the_plates_into_the_dish_rack"} -{"id": "s0220_b730d58f_l_209", "success": false, "p_success": 0.4, "reason": "The small stationery item remains ahead of the tips and the partial stationary close may leave insufficient contact.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "sort_the_stationery_into_containers"} -{"id": "s0221_b03d8e78_l_1387", "success": true, "p_success": 0.65, "reason": "A raised trouser fold is near the jaw center and the short forward close can secure the fabric.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "fold_and_stack_the_trousers"} -{"id": "s0222_17f5f0f9_l_1069", "success": true, "p_success": 0.68, "reason": "The upright phone is deeply aligned with the jaw opening and should remain clamped during the upward close.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "put_the_phone_into_the_phone_case"} -{"id": "s0223_c40b5f48_r_1547", "success": true, "p_success": 0.57, "reason": "The exposed card edge is presented across the jaws, though the tray and neighboring cards reduce clearance.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "put_the_credit_cards_into_the_card_holder"} -{"id": "s0224_91aacb56_r_2480", "success": true, "p_success": 0.64, "reason": "The pillowcase has a loose edge around the exposed pillow that the descending close can pinch.", "actual_success": false, "correct": false, "type": "fail_early", "task": "remove_the_pillowcase_from_the_pillow"} -{"id": "s0225_0bc1bd7e_l_3209", "success": true, "p_success": 0.57, "reason": "The descent reaches the bin liner edge and the jaws can gather the exposed bag film.", "actual_success": false, "correct": false, "type": "fail_early", "task": "put_the_trash_bags_into_the_trash_bin"} -{"id": "s0226_54972992_r_2147", "success": true, "p_success": 0.61, "reason": "The small white case is presented between the grippers and the modest descent can seat it in the acting jaws.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "insert_the_wireless_bluetooth_earbuds_into_the_charging_case"} -{"id": "s0227_7279b7ab_r_160", "success": false, "p_success": 0.49, "reason": "The long descent reaches the fruit area, but the moving view and round objects leave final enclosure uncertain.", "actual_success": false, "correct": true, "type": "fail_early", "task": "place_and_organize_the_fake_fruits_in_the_fruit_bowl"} -{"id": "s0228_857c5cd3_l_5884", "success": true, "p_success": 0.6, "reason": "The shirt corner lies near the jaw tips and the small downward close can pinch the hem.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "fold_and_stack_the_t_shirts"} -{"id": "s0229_cac4e017_l_935", "success": false, "p_success": 0.41, "reason": "The shoe toe is above the jaw opening and the upward partial close may catch only a shallow edge.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "place_and_organize_the_shoes_in_the_shoe_cabinet"} -{"id": "s0230_cf6801f7_r_1850", "success": true, "p_success": 0.53, "reason": "The cup is near the closing region, but its handle and the final grasp depth are not clearly visible.", "actual_success": false, "correct": false, "type": "fail_early", "task": "place_the_cup_by_the_coaster"} -{"id": "s0231_fca86ed4_r_3389", "success": false, "p_success": 0.35, "reason": "The acting jaws face open tabletop while the visible cup is held by the other arm outside the closing gap.", "actual_success": false, "correct": true, "type": "fail_early", "task": "unload_the_cups_from_the_dish_rack"} -{"id": "s0232_d4e0aa21_l_2692", "success": false, "p_success": 0.4, "reason": "Rack wires cross the approach to the closely packed bowls and may block a clean rim grasp.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "unload_the_bowls_from_the_dish_rack"} -{"id": "s0233_6b8ba92a_r_874", "success": true, "p_success": 0.6, "reason": "The descending jaws surround a fruit body in the basket, though the wide final gap and neighboring fruit reduce certainty.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "place_the_food_in_the_zip_top_bag_and_seal_the_zipper"} -{"id": "s0234_b01721ec_r_6390", "success": true, "p_success": 0.67, "reason": "The folded napkin edge is supported by the other arm and lies directly in the acting jaw gap.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "fold_the_napkin_into_a_case_and_place_the_utensils_inside"} -{"id": "s0235_4162fb80_l_3356", "success": true, "p_success": 0.54, "reason": "The descending approach targets the shoe upper, but the curved path leaves final heel alignment uncertain.", "actual_success": false, "correct": false, "type": "fail_early", "task": "place_and_organize_the_shoes_in_the_shoe_cabinet"} -{"id": "s0236_6c74b0e5_r_2133", "success": true, "p_success": 0.63, "reason": "The sock and clip are presented near the jaws and the forward close can establish a firm pinch.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "remove_the_socks_clipped_to_the_hanger"} -{"id": "s0237_b2caf120_l_388", "success": true, "p_success": 0.56, "reason": "The laundry bag seam is exposed near the jaws and can be pinched, though the adjacent gripper may restrict access.", "actual_success": false, "correct": false, "type": "fail_early", "task": "unzip_the_laundry_bag_and_remove_the_bra"} -{"id": "s0238_48fa5437_l_3038", "success": false, "p_success": 0.44, "reason": "The soft cap crown is ahead of the jaw tips without a clearly seated brim or deep fold.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "stack_the_hats"} -{"id": "s0239_38229317_l_2104", "success": true, "p_success": 0.51, "reason": "The lateral approach reaches the coffee packing area, but the cup to be grasped is not yet centered in the acting view.", "actual_success": false, "correct": false, "type": "fail_early", "task": "pack_the_takeout_coffee"} -{"id": "s0240_a39aeb5c_r_2261", "success": false, "p_success": 0.28, "reason": "The planned sweep ends away from the visible shirt and the acting jaws currently face empty tabletop.", "actual_success": false, "correct": true, "type": "fail_early", "task": "fold_and_stack_the_t_shirts"} -{"id": "s0241_22bed84a_r_2708", "success": false, "p_success": 0.36, "reason": "The jaws are aligned with the canvas bag edge rather than a visible bottle body inside it.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "take_the_beverage_out_of_the_canvas_bag"} -{"id": "s0242_b36a73f4_l_2987", "success": true, "p_success": 0.53, "reason": "The approach reaches a cylindrical stationery container presented by the other arm, but its offset position makes contact uncertain.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "sort_the_stationery_into_containers"} -{"id": "s0243_3d1b17df_l_2052", "success": true, "p_success": 0.58, "reason": "The glass stem is presented near the acting jaw opening and the lateral descent can clamp it clear of the rack.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "take_the_wine_glass_off_the_wine_glass_rack"} -{"id": "s0244_a921b7fb_r_846", "success": true, "p_success": 0.6, "reason": "The blue-capped bottle body lies between the jaw approach lines and the short close can retain it despite clutter.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "put_the_plastic_bottles_in_the_bin"} -{"id": "s0245_eab39ed1_r_1133", "success": true, "p_success": 0.59, "reason": "The paper edge is upright between the grippers and the small closing motion can pinch it.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "place_the_letter_into_the_envelope_and_seal_it"} -{"id": "s0246_d9be7ad1_l_667", "success": false, "p_success": 0.36, "reason": "The jaws face the organizer wall while the blocks remain off to the side of the partial closing gap.", "actual_success": false, "correct": true, "type": "fail_early", "task": "sort_the_legos_into_containers_by_color"} -{"id": "s0247_e82239d4_r_233", "success": true, "p_success": 0.62, "reason": "The descent reaches the isolated bottle beside the bin with accessible opposing sides.", "actual_success": false, "correct": false, "type": "fail_early", "task": "put_the_plastic_bottles_in_the_bin"} -{"id": "s0248_639efba9_r_160", "success": true, "p_success": 0.63, "reason": "The sock cuff and clip are within the approach corridor and the upward close can establish a firm pinch.", "actual_success": false, "correct": false, "type": "fail_early", "task": "remove_the_socks_clipped_to_the_hanger"} -{"id": "s0249_3c253aa6_r_2001", "success": false, "p_success": 0.47, "reason": "The shoe is close to the jaw tips but the shelf edge and adjacent shoe make the final contact shallow and uncertain.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "place_and_organize_the_shoes_onto_the_shoe_shelf"} -{"id": "s0250_0f98afa3_l_252", "success": true, "p_success": 0.57, "reason": "The trouser hem crosses the approaching jaws, though the forward rise could pull the edge out before full closure.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "place_the_trousers_on_the_hanger"} -{"id": "s0251_eeb33c46_l_181", "success": true, "p_success": 0.55, "reason": "The bouquet wrapper narrows near the tie where the jaws approach, offering a plausible grasp with some risk of catching only paper.", "actual_success": false, "correct": false, "type": "fail_early", "task": "place_the_flowers_into_the_vase"} -{"id": "s0252_60f8e670_l_1517", "success": true, "p_success": 0.6, "reason": "The book edge is presented across the jaw opening and the short descent should clamp its thickness.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "stack_the_books_and_files"} -{"id": "s0253_abae7512_l_1233", "success": true, "p_success": 0.56, "reason": "The microphone body is close to the jaws, but the stand clip may obstruct opposing contact during closure.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "remove_the_microphone_from_the_stand"} -{"id": "s0254_3cc152a2_l_381", "success": true, "p_success": 0.51, "reason": "The descending approach reaches the bouquet wrapper near its tie, though the stems are obscured by the other gripper.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "place_the_flowers_into_the_vase"} -{"id": "s0255_fca86ed4_r_1170", "success": true, "p_success": 0.6, "reason": "The cup rim lies near the jaw tips and the backward close can pinch it clear of the nearby cloth.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "unload_the_cups_from_the_dish_rack"} -{"id": "s0256_0edfb730_l_2380", "success": false, "p_success": 0.37, "reason": "The large upward close begins above a crowded food tray without a clearly enclosed item at the jaw tips.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "place_the_food_in_the_zip_top_bag_and_seal_the_zipper"} -{"id": "s0257_49817cbd_l_3817", "success": false, "p_success": 0.44, "reason": "The descent targets a thin card or sleeve lying flat, making access beneath its edge uncertain.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "take_the_credit_cards_out_of_the_card_holder"} -{"id": "s0258_b7716484_r_1119", "success": true, "p_success": 0.59, "reason": "The laundry-bag seam is presented by the other arm and the short close can pinch the reinforced edge.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "unzip_the_laundry_bag_and_remove_the_bra"} -{"id": "s0259_e26fa0af_l_3316", "success": true, "p_success": 0.64, "reason": "The small brooch is aligned between the grippers and the nearly stationary close can clamp its exposed body.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "remove_the_brooch_from_the_garment"} -{"id": "s0260_d27e35cd_l_1775", "success": true, "p_success": 0.52, "reason": "The approach reaches a plate rim in the rack, but adjacent plates and wires constrain the jaw clearance.", "actual_success": false, "correct": false, "type": "fail_early", "task": "unload_the_plates_from_the_dish_rack"} -{"id": "s0261_2b4e68b0_l_1877", "success": true, "p_success": 0.67, "reason": "The filter fold is clearly seated between the jaw tips and the short close should preserve that pinch.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "place_the_coffee_filter_in_the_dripper"} -{"id": "s0262_28c8d41b_r_2416", "success": true, "p_success": 0.61, "reason": "The can body is centered at the jaw opening and the small rising close can establish broad opposing contact.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "place_and_organize_the_canned_foods_onto_the_counter"} -{"id": "s0263_ed9685d6_l_3299", "success": true, "p_success": 0.69, "reason": "The rigid stand tube is centered between the jaws and the nearly stationary close should secure it.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "pack_up_the_instrument_practice_props"} -{"id": "s0264_b34dadd5_l_1282", "success": false, "p_success": 0.44, "reason": "The approach follows the frame edge but does not clearly isolate the thin photo from the frame or transparent insert.", "actual_success": false, "correct": true, "type": "fail_early", "task": "put_the_photo_into_the_frame"} -{"id": "s0265_ec382b70_l_1217", "success": false, "p_success": 0.36, "reason": "The acting jaws face the rack and opposing gripper with no plate rim visibly seated in their gap.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "load_the_plates_into_the_dish_rack"} -{"id": "s0266_1369e8ef_l_58", "success": false, "p_success": 0.4, "reason": "The cap brim is ahead of the tips and the quick upward close may lift away before enclosing its edge.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "stack_the_hats"} -{"id": "s0267_8286919d_r_2417", "success": false, "p_success": 0.39, "reason": "The shelf board obstructs the shoe opening and the close risks pinching against the shelf instead of gripping the upper.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "place_and_organize_the_shoes_in_the_shoe_cabinet"} -{"id": "s0268_58641195_r_3565", "success": false, "p_success": 0.35, "reason": "The final commanded opening remains wide while the bag edge is only shallowly aligned with the jaws.", "actual_success": false, "correct": true, "type": "fail_early", "task": "pack_the_student_bag"} -{"id": "s0269_84d5a6ab_l_3726", "success": true, "p_success": 0.53, "reason": "The forward descent approaches a plug-sized object, though the nearby outlet block obscures precise contact.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "insert_the_plug"} -{"id": "s0270_bfb7dd87_r_64", "success": false, "p_success": 0.3, "reason": "The acting jaws face empty tabletop and the very short close does not reach the visible tools.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "sort_the_tools_into_containers"} -{"id": "s0271_1ea74b8e_l_68", "success": true, "p_success": 0.59, "reason": "The napkin edge is close to the jaw tips and the nearly stationary close can capture a fold.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "fold_the_napkin_place_the_utensils_inside_and_roll_it_up"} -{"id": "s0272_117a734e_l_1494", "success": true, "p_success": 0.55, "reason": "The downward lateral approach reaches the shirt hem, though its flat placement makes the final pinch uncertain.", "actual_success": false, "correct": false, "type": "fail_early", "task": "fold_and_stack_the_t_shirts"} -{"id": "s0273_fb64b434_r_3381", "success": true, "p_success": 0.64, "reason": "The upright book spine is seated in the jaw opening and offers broad opposing surfaces for a clamp.", "actual_success": false, "correct": false, "type": "fail_early", "task": "stack_the_books_and_files"} -{"id": "s0274_cd143549_r_625", "success": true, "p_success": 0.57, "reason": "The utensil shafts are aligned with the jaws and the descending sweep can retain them while approaching the bread.", "actual_success": false, "correct": false, "type": "fail_early", "task": "place_the_bread"} -{"id": "s0275_adf63b5a_r_40", "success": false, "p_success": 0.47, "reason": "The long curved motion reaches a towel in the basket, but the upward close may catch only a shallow edge.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "fold_and_stack_the_towels"} -{"id": "s0276_f75d64df_l_805", "success": true, "p_success": 0.63, "reason": "The snack packet body is centered ahead of the jaws and the short forward close can compress and retain it.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "take_the_snacks_out_of_the_paper_bag"} -{"id": "s0277_d8698b57_l_231", "success": false, "p_success": 0.43, "reason": "The acting jaws are crowded by utensils and the other gripper without a chocolate clearly seated between the tips.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "pack_the_chocolate"} -{"id": "s0278_45e11483_r_3211", "success": true, "p_success": 0.65, "reason": "The plate rim is close to the jaw opening and the modest closing displacement should preserve a secure edge pinch.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "load_the_plates_into_the_dish_rack"} -{"id": "s0279_77729cd0_l_992", "success": true, "p_success": 0.56, "reason": "The approach reaches the sock clip beneath the frame, although the opposing gripper limits the available clearance.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "remove_the_socks_clipped_to_the_hanger"} -{"id": "s0280_abae7512_l_258", "success": false, "p_success": 0.44, "reason": "The microphone remains offset ahead of the acting jaws and the stand hardware obscures secure body contact.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "remove_the_microphone_from_the_stand"} -{"id": "s0281_8a600716_r_1323", "success": true, "p_success": 0.61, "reason": "The shirt fold is presented between the grippers and the descending close can capture a substantial section.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "place_the_shirt_on_the_hanger"} -{"id": "s0282_e3df98e1_l_2036", "success": true, "p_success": 0.65, "reason": "The shirt edge and hanger are close to the jaws and the short close can retain the presented fabric fold.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "place_the_t_shirt_on_the_hanger"} -{"id": "s0283_b7462942_r_2908", "success": false, "p_success": 0.48, "reason": "The narrow cardboard edge is near the jaws, but the partial close may provide only shallow purchase on the box flap.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "unpack_the_express_box"} -{"id": "s0284_83544adb_r_1138", "success": true, "p_success": 0.55, "reason": "The open bag exposes the food near the closing region, though the clustered contents and film may interfere with a clean grasp.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "open_the_zip_top_bag_and_remove_the_fake_food"} -{"id": "s0285_13f93ec4_l_272", "success": false, "p_success": 0.35, "reason": "The hanger frame crosses the jaw opening and the wide partial close is unlikely to isolate the sock clip securely.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "remove_the_socks_clipped_to_the_hanger"} -{"id": "s0286_22bed84a_r_2251", "success": false, "p_success": 0.34, "reason": "The acting jaws remain outside the bag near its handle while the bottles are deeper inside.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "take_the_beverage_out_of_the_canvas_bag"} -{"id": "s0287_76d3a792_r_2666", "success": true, "p_success": 0.68, "reason": "The thick folded towel is presented between the grippers and the small downward close should retain it.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "pack_the_luggage"} -{"id": "s0288_38229317_r_3830", "success": true, "p_success": 0.58, "reason": "The paper bag lip spans the jaw opening and the forward close can pinch a fold near the handle.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "pack_the_takeout_coffee"} -{"id": "s0289_d08765d0_l_113", "success": false, "p_success": 0.33, "reason": "The cabinet edge blocks the acting jaw view and the shoe is not clearly within the closing gap.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "place_and_organize_the_shoes_in_the_shoe_cabinet"} -{"id": "s0290_5e6d3b53_r_2308", "success": false, "p_success": 0.45, "reason": "The upward lateral approach faces several cards in a holder without a single exposed edge clearly isolated.", "actual_success": false, "correct": true, "type": "fail_early", "task": "put_the_credit_cards_into_the_card_holder"} -{"id": "s0291_20a3acac_r_1784", "success": true, "p_success": 0.59, "reason": "The charging case is presented near the acting jaws and the lateral close can capture its body, though the other gripper crowds it.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "insert_the_wireless_bluetooth_earbuds_into_the_charging_case"} -{"id": "s0292_ed9685d6_r_1590", "success": true, "p_success": 0.6, "reason": "The metronome body is close to the jaw opening and the small translation should allow opposing contact.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "pack_up_the_instrument_practice_props"} -{"id": "s0293_670c7cfd_l_4431", "success": true, "p_success": 0.5, "reason": "The forward rise approaches the shoe heel near the cabinet, with uncertain clearance beneath the shelf.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "place_and_organize_the_shoes_in_the_shoe_cabinet"} -{"id": "s0294_347bd73f_r_1361", "success": false, "p_success": 0.42, "reason": "The plate rim is crowded among neighboring plates and rack bars, making a clean isolated pinch uncertain.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "load_the_plates_into_the_dish_rack"} -{"id": "s0295_c83bf764_l_787", "success": true, "p_success": 0.53, "reason": "The lateral approach reaches the loose blocks, but the final target is not yet centered in the acting jaws.", "actual_success": false, "correct": false, "type": "fail_early", "task": "sort_the_legos_into_containers_by_color"} -{"id": "s0297_e250e243_l_1782", "success": true, "p_success": 0.67, "reason": "The shirt fabric is bunched in the jaw opening and the short close should retain a substantial fold.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "remove_the_shirt_from_the_hanger"} -{"id": "s0298_8ab53d08_r_433", "success": false, "p_success": 0.37, "reason": "The phone remains offset near the other gripper and the wide partial close may fail to establish opposing contact.", "actual_success": false, "correct": true, "type": "fail_early", "task": "put_the_phone_into_the_phone_case"} -{"id": "s0299_b81c90c9_r_646", "success": true, "p_success": 0.58, "reason": "The upright phone edge is near the acting jaws, but the quick upward motion may reduce the depth of contact.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "put_the_phone_into_the_phone_case"} -{"id": "s0300_bbd62cca_r_968", "success": false, "p_success": 0.44, "reason": "The long backward sweep moves away from the visible pear and leaves the final food grasp uncertain.", "actual_success": false, "correct": true, "type": "fail_at_decision", "task": "open_the_zip_top_bag_and_remove_the_fake_food"} -{"id": "s0301_c898e489_l_1660", "success": true, "p_success": 0.64, "reason": "The cardboard carrier edge is presented between the jaws and the modest forward close can clamp it.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "pack_the_takeout_coffee"} -{"id": "s0302_61757e14_r_3715", "success": true, "p_success": 0.68, "reason": "The paper plane central fold is clearly aligned with the jaw opening and the lateral descent can pinch it.", "actual_success": false, "correct": false, "type": "fail_early", "task": "fold_a_paper_plane_with_a_square_sheet_of_paper_pick_it_up_from_the_middle"} -{"id": "s0303_0de45c6a_r_904", "success": true, "p_success": 0.55, "reason": "The forward approach reaches the exposed cup area, though neighboring dishes make precise rim capture uncertain.", "actual_success": false, "correct": false, "type": "fail_early", "task": "place_the_mixed_dishes_into_the_plastic_bin"} -{"id": "s0304_a860ce76_l_552", "success": true, "p_success": 0.61, "reason": "The reinforced zipper edge is presented near the jaw center and the forward close can secure that lip.", "actual_success": false, "correct": false, "type": "fail_at_decision", "task": "open_the_zip_top_bag_and_remove_the_fake_food"} -{"id": "s0305_9db4e21e_r_5543", "success": true, "p_success": 0.59, "reason": "The downward lateral approach reaches a loose pillowcase edge that can be gathered into the jaws.", "actual_success": false, "correct": false, "type": "fail_early", "task": "put_the_pillow_into_the_pillowcase"} diff --git a/style.css b/style.css deleted file mode 100644 index 114adf441e9032febb46bc056b2a8bb651075f0d..0000000000000000000000000000000000000000 --- a/style.css +++ /dev/null @@ -1,28 +0,0 @@ -body { - padding: 2rem; - font-family: -apple-system, BlinkMacSystemFont, "Arial", sans-serif; -} - -h1 { - font-size: 16px; - margin-top: 0; -} - -p { - color: rgb(107, 114, 128); - font-size: 15px; - margin-bottom: 10px; - margin-top: 5px; -} - -.card { - max-width: 620px; - margin: 0 auto; - padding: 16px; - border: 1px solid lightgray; - border-radius: 16px; -} - -.card p:last-child { - margin-bottom: 0; -} diff --git a/world-models.html 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World Model Rollouts

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World model
Ground truth
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