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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 -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.",
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+ "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"
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+ }
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+ "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",
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1965
+ "plan": {
1966
+ "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.",
1967
+ "grasp_site_now_xyz_m": [
1968
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1969
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1970
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1971
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1972
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1973
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1974
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1975
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1976
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1977
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1978
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1979
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1980
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1981
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1982
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1983
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1984
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1985
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1986
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1987
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1988
+ "path_len_cm": 41.5,
1989
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1990
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1991
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1992
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1993
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1994
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1995
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1996
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1997
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2001
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2002
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2005
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2006
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2009
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2010
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2013
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2014
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2015
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2016
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2017
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2018
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2020
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2021
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2022
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2024
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2025
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2029
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2053
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2150
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2151
+ "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"
2152
+ }
2153
+ }
2154
+ }
public/samples/s0178_def1f3a4_l_3806/top_t-15.jpg ADDED
public/samples/s0178_def1f3a4_l_3806/top_t-30.jpg ADDED
public/samples/s0178_def1f3a4_l_3806/top_t.jpg ADDED
public/samples/s0179_a921b7fb_r_2469/left_t-15.jpg ADDED
public/samples/s0179_a921b7fb_r_2469/left_t-30.jpg ADDED
public/samples/s0179_a921b7fb_r_2469/left_t.jpg ADDED
public/samples/s0179_a921b7fb_r_2469/overlay_t.jpg ADDED
public/samples/s0179_a921b7fb_r_2469/right_t-15.jpg ADDED
public/samples/s0179_a921b7fb_r_2469/right_t-30.jpg ADDED
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1950
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1951
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1952
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1953
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1954
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1960
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1961
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1963
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1964
+ "state_layout": "measured 14-D state at t, same column layout as actions",
1965
+ "plan": {
1966
+ "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.",
1967
+ "grasp_site_now_xyz_m": [
1968
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1969
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1970
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1971
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1972
+ "grasp_site_now_uv": [
1973
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1974
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1975
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1976
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1977
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1978
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1979
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1980
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1981
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1982
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1983
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1984
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1985
+ "shut_in_top_view": true,
1986
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1987
+ "close_done_frame": 25,
1988
+ "path_len_cm": 7.2,
1989
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1990
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1991
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1992
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1993
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1994
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1995
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1996
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1997
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1998
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1999
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2000
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2001
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2002
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2003
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2004
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2005
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2006
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2007
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2008
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2009
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2010
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2011
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2012
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2013
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2014
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2015
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2016
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2017
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2018
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2019
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2020
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2021
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2022
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2023
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2025
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2026
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2102
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2105
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2106
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2110
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2114
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2118
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2149
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2150
+ ],
2151
+ "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"
2152
+ }
2153
+ }
2154
+ }
public/samples/s0180_2b721695_r_2425/top_t-15.jpg ADDED
public/samples/s0180_2b721695_r_2425/top_t-30.jpg ADDED
public/samples/s0180_2b721695_r_2425/top_t.jpg ADDED
public/samples/s0181_c414104e_l_457/left_t-15.jpg ADDED
public/samples/s0181_c414104e_l_457/left_t-30.jpg ADDED
public/samples/s0181_c414104e_l_457/left_t.jpg ADDED
public/samples/s0181_c414104e_l_457/overlay_t.jpg ADDED
public/samples/s0181_c414104e_l_457/right_t-15.jpg ADDED