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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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+ }
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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": "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, +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.",
1967
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1969
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1971
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1974
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1975
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1979
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1980
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1981
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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
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1989
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1990
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1992
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1993
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1994
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1995
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1997
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2001
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2005
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2009
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2010
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2013
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2014
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2016
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2017
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2018
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2021
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2022
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2025
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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/s0046_4457a343_r_491/top_t-15.jpg ADDED
public/samples/s0046_4457a343_r_491/top_t-30.jpg ADDED
public/samples/s0046_4457a343_r_491/top_t.jpg ADDED
public/samples/s0047_e2706a7a_r_831/left_t-15.jpg ADDED
public/samples/s0047_e2706a7a_r_831/left_t-30.jpg ADDED
public/samples/s0047_e2706a7a_r_831/left_t.jpg ADDED
public/samples/s0047_e2706a7a_r_831/overlay_t.jpg ADDED
public/samples/s0047_e2706a7a_r_831/right_t-15.jpg ADDED
public/samples/s0047_e2706a7a_r_831/right_t-30.jpg ADDED
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+ "state_t": [
1949
+ -0.12531,
1950
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1951
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1952
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1953
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1954
+ -0.61017,
1955
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1956
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1957
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1958
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1959
+ 0.1627,
1960
+ 0.03567,
1961
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1962
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1963
+ ],
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 +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.",
1967
+ "grasp_site_now_xyz_m": [
1968
+ 0.6209,
1969
+ -0.0094,
1970
+ 0.8676
1971
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1946
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1947
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1949
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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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1955
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1956
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1957
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1959
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1960
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1961
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1962
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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": "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.",
1967
+ "grasp_site_now_xyz_m": [
1968
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1969
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1970
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1971
+ ],
1972
+ "grasp_site_now_uv": [
1973
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1974
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1975
+ ],
1976
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1977
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1978
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1979
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1980
+ ],
1981
+ "grasp_site_at_shut_uv": [
1982
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1983
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1984
+ ],
1985
+ "shut_in_top_view": true,
1986
+ "close_onset_frame": 0,
1987
+ "close_done_frame": 24,
1988
+ "path_len_cm": 2.0,
1989
+ "path_uv_every_3_frames": [
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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2024
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2025
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2026
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2029
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2030
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2033
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2034
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2050
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2062
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2073
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2077
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2078
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2081
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2082
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2086
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2090
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2094
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2098
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2101
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2102
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2105
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2106
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2110
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2113
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2114
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2117
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2118
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2122
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2130
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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/s0048_851c71e4_l_3264/top_t-15.jpg ADDED
public/samples/s0048_851c71e4_l_3264/top_t-30.jpg ADDED
public/samples/s0048_851c71e4_l_3264/top_t.jpg ADDED
public/samples/s0049_df25bf3b_l_1955/left_t-15.jpg ADDED
public/samples/s0049_df25bf3b_l_1955/left_t-30.jpg ADDED
public/samples/s0049_df25bf3b_l_1955/left_t.jpg ADDED
public/samples/s0049_df25bf3b_l_1955/overlay_t.jpg ADDED
public/samples/s0049_df25bf3b_l_1955/right_t-15.jpg ADDED
public/samples/s0049_df25bf3b_l_1955/right_t-30.jpg ADDED
public/samples/s0049_df25bf3b_l_1955/right_t.jpg ADDED