{"goal_frame":"target","horizon_s":30.0,"initial_state_json":"{\"driver_attached\":false,\"fastener_angle_rad\":0.0,\"fastener_axial_m\":0.0,\"object_released\":false}","initial_validation_json":"{\"angle_tolerance_rad\":0.01,\"fastener_axial_tolerance_m\":0.0001,\"max_angular_speed_rad_s\":0.01,\"max_linear_speed_m_s\":0.002,\"position_tolerance_m\":0.002,\"ranges\":{\"driver_clearance_m\":[0.05,5.0]}}","kind":"captive","language":"en","measurement_fields_json":"{\"angular_velocity_rad_s\":\"vector[3]\",\"driver_attached\":\"bool\",\"driver_clearance_m\":\"number\",\"escaped\":\"bool\",\"fastener_angle_rad\":\"number\",\"fastener_axial_m\":\"number\",\"forbidden_contact\":\"bool\",\"linear_velocity_m_s\":\"vector[3]\",\"measurement_time_s\":\"number\",\"object_released\":\"bool\",\"t_s\":\"number\",\"target_id\":\"string\"}","measurement_semantics_json":"{\"cap_adapter_pose\":\"Pose residual with respect to nominal retained cap-in-adapter transform, not raw object-origin separation\",\"driver_attached\":\"Measured driver-bit engagement with the captive fastener; disengaged at reset.\",\"driver_clearance_m\":\"Measured driver-bit clearance from the captive fastener, in metres.\",\"min_containment_margin_m\":\"Minimum signed clearance of every card mesh point to the selected box interior; positive is contained\",\"opening_clearance_m\":\"Minimum signed card mesh distance beyond the selected opening plane; positive is fully extracted\",\"position_frames\":\"Named task goal frame; quaternion wxyz relative to desired goal orientation\",\"velocity_frame\":\"Asset frame; linear and angular vectors are measured from the manipulated object\"}","parameter_provenance":"AstroBench engineering task parameters in SI units","prompt_template":"Loosen the {target_name} without releasing it from the panel and hold it in the loosened position.","protocol_json":"{\"gravity_m_s2\":0.0,\"horizon_s\":30.0,\"initial_angle_tolerance_rad\":0.01,\"initial_position_tolerance_m\":0.002,\"max_sample_gap_s\":0.025,\"robot_base\":\"fixed\",\"terminal_hold_s\":1.0,\"units\":\"meters_radians_seconds_newtons\",\"version\":\"astrobench.workcell-state/1\"}","reset_frame":"","target_count":2,"target_ids":["captive_1","captive_2"],"target_names":["captive screw 1","captive screw 2"],"task_id":"captive_loosen","task_spec_json":"{\"goal_frame\":\"target\",\"initial_state\":{\"driver_attached\":false,\"fastener_angle_rad\":0.0,\"fastener_axial_m\":0.0,\"object_released\":false},\"initial_validation\":{\"angle_tolerance_rad\":0.01,\"fastener_axial_tolerance_m\":0.0001,\"max_angular_speed_rad_s\":0.01,\"max_linear_speed_m_s\":0.002,\"position_tolerance_m\":0.002,\"ranges\":{\"driver_clearance_m\":[0.05,5.0]}},\"kind\":\"captive\",\"measurement_semantics\":{\"cap_adapter_pose\":\"Pose residual with respect to nominal retained cap-in-adapter transform, not raw object-origin separation\",\"driver_attached\":\"Measured driver-bit engagement with the captive fastener; disengaged at reset.\",\"driver_clearance_m\":\"Measured driver-bit clearance from the captive fastener, in metres.\",\"min_containment_margin_m\":\"Minimum signed clearance of every card mesh point to the selected box interior; positive is contained\",\"opening_clearance_m\":\"Minimum signed card mesh distance beyond the selected opening plane; positive is fully extracted\",\"position_frames\":\"Named task goal frame; quaternion wxyz relative to desired goal orientation\",\"velocity_frame\":\"Asset frame; linear and angular vectors are measured from the manipulated object\"},\"measurement_template\":{\"driver_attached\":false,\"driver_clearance_m\":0.1,\"fastener_angle_rad\":0.0,\"fastener_axial_m\":0.0,\"object_released\":false},\"parameter_provenance\":\"AstroBench engineering task parameters in SI units\",\"target_ids\":[\"captive_1\",\"captive_2\"],\"thresholds\":{\"loosen_min_travel_m\":0.0018,\"loosen_min_turns\":2.8,\"max_angular_speed_rad_s\":0.1,\"max_linear_speed_m_s\":0.001,\"max_travel_m\":0.003,\"min_driver_clearance_m\":0.05,\"thread_pitch_m\":0.0007,\"tight_max_angle_rad\":0.12,\"tight_max_travel_m\":0.00015},\"title\":\"Loosen selected captive fastener\",\"workcell_id\":\"rrm_tb1\"}","thresholds_json":"{\"loosen_min_travel_m\":0.0018,\"loosen_min_turns\":2.8,\"max_angular_speed_rad_s\":0.1,\"max_linear_speed_m_s\":0.001,\"max_travel_m\":0.003,\"min_driver_clearance_m\":0.05,\"thread_pitch_m\":0.0007,\"tight_max_angle_rad\":0.12,\"tight_max_travel_m\":0.00015}","title":"Loosen selected captive fastener","workcell_id":"rrm_tb1"}
{"goal_frame":"target","horizon_s":30.0,"initial_state_json":"{\"driver_attached\":false,\"fastener_angle_rad\":18.84955592153876,\"fastener_axial_m\":0.0021,\"object_released\":false}","initial_validation_json":"{\"angle_tolerance_rad\":0.01,\"fastener_axial_tolerance_m\":0.0001,\"max_angular_speed_rad_s\":0.01,\"max_linear_speed_m_s\":0.002,\"position_tolerance_m\":0.002,\"ranges\":{\"driver_clearance_m\":[0.05,5.0]}}","kind":"captive","language":"en","measurement_fields_json":"{\"angular_velocity_rad_s\":\"vector[3]\",\"driver_attached\":\"bool\",\"driver_clearance_m\":\"number\",\"escaped\":\"bool\",\"fastener_angle_rad\":\"number\",\"fastener_axial_m\":\"number\",\"forbidden_contact\":\"bool\",\"linear_velocity_m_s\":\"vector[3]\",\"measurement_time_s\":\"number\",\"object_released\":\"bool\",\"t_s\":\"number\",\"target_id\":\"string\"}","measurement_semantics_json":"{\"cap_adapter_pose\":\"Pose residual with respect to nominal retained cap-in-adapter transform, not raw object-origin separation\",\"driver_attached\":\"Measured driver-bit engagement with the captive fastener; disengaged at reset.\",\"driver_clearance_m\":\"Measured driver-bit clearance from the captive fastener, in metres.\",\"min_containment_margin_m\":\"Minimum signed clearance of every card mesh point to the selected box interior; positive is contained\",\"opening_clearance_m\":\"Minimum signed card mesh distance beyond the selected opening plane; positive is fully extracted\",\"position_frames\":\"Named task goal frame; quaternion wxyz relative to desired goal orientation\",\"velocity_frame\":\"Asset frame; linear and angular vectors are measured from the manipulated object\"}","parameter_provenance":"AstroBench engineering task parameters in SI units","prompt_template":"Tighten the {target_name} until it is seated, keep it captive, and withdraw the driver.","protocol_json":"{\"gravity_m_s2\":0.0,\"horizon_s\":30.0,\"initial_angle_tolerance_rad\":0.01,\"initial_position_tolerance_m\":0.002,\"max_sample_gap_s\":0.025,\"robot_base\":\"fixed\",\"terminal_hold_s\":1.0,\"units\":\"meters_radians_seconds_newtons\",\"version\":\"astrobench.workcell-state/1\"}","reset_frame":"","target_count":2,"target_ids":["captive_1","captive_2"],"target_names":["captive screw 1","captive screw 2"],"task_id":"captive_tighten","task_spec_json":"{\"goal_frame\":\"target\",\"initial_state\":{\"driver_attached\":false,\"fastener_angle_rad\":18.84955592153876,\"fastener_axial_m\":0.0021,\"object_released\":false},\"initial_validation\":{\"angle_tolerance_rad\":0.01,\"fastener_axial_tolerance_m\":0.0001,\"max_angular_speed_rad_s\":0.01,\"max_linear_speed_m_s\":0.002,\"position_tolerance_m\":0.002,\"ranges\":{\"driver_clearance_m\":[0.05,5.0]}},\"kind\":\"captive\",\"measurement_semantics\":{\"cap_adapter_pose\":\"Pose residual with respect to nominal retained cap-in-adapter transform, not raw object-origin separation\",\"driver_attached\":\"Measured driver-bit engagement with the captive fastener; disengaged at reset.\",\"driver_clearance_m\":\"Measured driver-bit clearance from the captive fastener, in metres.\",\"min_containment_margin_m\":\"Minimum signed clearance of every card mesh point to the selected box interior; positive is contained\",\"opening_clearance_m\":\"Minimum signed card mesh distance beyond the selected opening plane; positive is fully extracted\",\"position_frames\":\"Named task goal frame; quaternion wxyz relative to desired goal orientation\",\"velocity_frame\":\"Asset frame; linear and angular vectors are measured from the manipulated object\"},\"measurement_template\":{\"driver_attached\":false,\"driver_clearance_m\":0.1,\"fastener_angle_rad\":18.84955592153876,\"fastener_axial_m\":0.0021,\"object_released\":false},\"parameter_provenance\":\"AstroBench engineering task parameters in SI units\",\"target_ids\":[\"captive_1\",\"captive_2\"],\"thresholds\":{\"loosen_min_travel_m\":0.0018,\"loosen_min_turns\":2.8,\"max_angular_speed_rad_s\":0.1,\"max_linear_speed_m_s\":0.001,\"max_travel_m\":0.003,\"min_driver_clearance_m\":0.05,\"thread_pitch_m\":0.0007,\"tight_max_angle_rad\":0.12,\"tight_max_travel_m\":0.00015},\"title\":\"Tighten selected captive fastener\",\"workcell_id\":\"rrm_tb1\"}","thresholds_json":"{\"loosen_min_travel_m\":0.0018,\"loosen_min_turns\":2.8,\"max_angular_speed_rad_s\":0.1,\"max_linear_speed_m_s\":0.001,\"max_travel_m\":0.003,\"min_driver_clearance_m\":0.05,\"thread_pitch_m\":0.0007,\"tight_max_angle_rad\":0.12,\"tight_max_travel_m\":0.00015}","title":"Tighten selected captive fastener","workcell_id":"rrm_tb1"}
{"goal_frame":"approach","horizon_s":30.0,"initial_state_json":"{\"goal_relative_position_m\":[0.0,0.0,-0.1685],\"goal_relative_quat_wxyz\":[1.0,0.0,0.0,0.0],\"object_released\":true}","initial_validation_json":"{\"angle_tolerance_rad\":0.01,\"fastener_axial_tolerance_m\":0.0001,\"max_angular_speed_rad_s\":0.01,\"max_linear_speed_m_s\":0.002,\"position_tolerance_m\":0.002,\"ranges\":{\"gripper_aperture_m\":[0.04,0.09],\"gripper_target_contact_force_n\":[0.0,0.001],\"min_containment_margin_m\":[0.0,0.05],\"opening_clearance_m\":[-0.3,-0.02],\"retention_force_n\":[0.01,100.0]}}","kind":"card","language":"en","measurement_fields_json":"{\"angular_velocity_rad_s\":\"vector[3]\",\"escaped\":\"bool\",\"forbidden_contact\":\"bool\",\"goal_relative_position_m\":\"vector[3]\",\"goal_relative_quat_wxyz\":\"vector[4]\",\"gripper_aperture_m\":\"number\",\"gripper_target_contact_force_n\":\"number\",\"linear_velocity_m_s\":\"vector[3]\",\"measurement_time_s\":\"number\",\"min_containment_margin_m\":\"number\",\"object_released\":\"bool\",\"opening_clearance_m\":\"number\",\"retention_force_n\":\"number\",\"t_s\":\"number\",\"target_id\":\"string\"}","measurement_semantics_json":"{\"cap_adapter_pose\":\"Pose residual with respect to nominal retained cap-in-adapter transform, not raw object-origin separation\",\"min_containment_margin_m\":\"Minimum signed clearance of every card mesh point to the selected box interior; positive is contained\",\"opening_clearance_m\":\"Minimum signed card mesh distance beyond the selected opening plane; positive is fully extracted\",\"position_frames\":\"Named task goal frame; quaternion wxyz relative to desired goal orientation\",\"velocity_frame\":\"Asset frame; linear and angular vectors are measured from the manipulated object\"}","parameter_provenance":"AstroBench engineering task parameters in SI units","prompt_template":"Remove the card from the {target_name} and hold it clear of the opening.","protocol_json":"{\"gravity_m_s2\":0.0,\"horizon_s\":30.0,\"initial_angle_tolerance_rad\":0.01,\"initial_position_tolerance_m\":0.002,\"max_sample_gap_s\":0.025,\"robot_base\":\"fixed\",\"terminal_hold_s\":1.0,\"units\":\"meters_radians_seconds_newtons\",\"version\":\"astrobench.workcell-state/1\"}","reset_frame":"inserted","target_count":3,"target_ids":["Front_quarter_box","Middle_quarter_box","Rear_half_box"],"target_names":["front quarter box","middle quarter box","rear half box"],"task_id":"card_extract","task_spec_json":"{\"goal_frame\":\"approach\",\"initial_state\":{\"goal_relative_position_m\":[0.0,0.0,-0.1685],\"goal_relative_quat_wxyz\":[1.0,0.0,0.0,0.0],\"object_released\":true},\"initial_validation\":{\"angle_tolerance_rad\":0.01,\"fastener_axial_tolerance_m\":0.0001,\"max_angular_speed_rad_s\":0.01,\"max_linear_speed_m_s\":0.002,\"position_tolerance_m\":0.002,\"ranges\":{\"gripper_aperture_m\":[0.04,0.09],\"gripper_target_contact_force_n\":[0.0,0.001],\"min_containment_margin_m\":[0.0,0.05],\"opening_clearance_m\":[-0.3,-0.02],\"retention_force_n\":[0.01,100.0]}},\"kind\":\"card\",\"measurement_semantics\":{\"cap_adapter_pose\":\"Pose residual with respect to nominal retained cap-in-adapter transform, not raw object-origin separation\",\"min_containment_margin_m\":\"Minimum signed clearance of every card mesh point to the selected box interior; positive is contained\",\"opening_clearance_m\":\"Minimum signed card mesh distance beyond the selected opening plane; positive is fully extracted\",\"position_frames\":\"Named task goal frame; quaternion wxyz relative to desired goal orientation\",\"velocity_frame\":\"Asset frame; linear and angular vectors are measured from the manipulated object\"},\"measurement_template\":{\"goal_relative_position_m\":[0.12,0.0,0.0],\"goal_relative_quat_wxyz\":[1.0,0.0,0.0,0.0],\"gripper_aperture_m\":0.06,\"gripper_target_contact_force_n\":0.0,\"min_containment_margin_m\":0.001,\"object_released\":true,\"opening_clearance_m\":-0.11,\"retention_force_n\":0.1},\"parameter_provenance\":\"AstroBench engineering task parameters in SI units\",\"reset_frame\":\"inserted\",\"target_ids\":[\"Front_quarter_box\",\"Middle_quarter_box\",\"Rear_half_box\"],\"thresholds\":{\"grasp_max_aperture_m\":0.03,\"max_angular_speed_rad_s\":0.2,\"max_linear_speed_m_s\":0.02,\"min_containment_margin_m\":0.0,\"min_extraction_clearance_m\":0.02,\"min_grasp_contact_force_n\":0.01,\"min_retention_force_n\":0.01,\"orientation_tolerance_rad\":0.08726646259971647,\"position_tolerance_m\":0.005,\"released_min_aperture_m\":0.04},\"title\":\"Extract and hold sample card from selected box\",\"workcell_id\":\"melfi_v6\"}","thresholds_json":"{\"grasp_max_aperture_m\":0.03,\"max_angular_speed_rad_s\":0.2,\"max_linear_speed_m_s\":0.02,\"min_containment_margin_m\":0.0,\"min_extraction_clearance_m\":0.02,\"min_grasp_contact_force_n\":0.01,\"min_retention_force_n\":0.01,\"orientation_tolerance_rad\":0.08726646259971647,\"position_tolerance_m\":0.005,\"released_min_aperture_m\":0.04}","title":"Extract and hold sample card from selected box","workcell_id":"melfi_v6"}
{"goal_frame":"inserted","horizon_s":30.0,"initial_state_json":"{\"goal_relative_position_m\":[0.0,0.0,0.1435],\"goal_relative_quat_wxyz\":[1.0,0.0,0.0,0.0],\"object_released\":false}","initial_validation_json":"{\"angle_tolerance_rad\":0.01,\"fastener_axial_tolerance_m\":0.0001,\"max_angular_speed_rad_s\":0.01,\"max_linear_speed_m_s\":0.002,\"position_tolerance_m\":0.002,\"ranges\":{\"gripper_aperture_m\":[0.0,0.03],\"gripper_target_contact_force_n\":[0.01,100.0],\"min_containment_margin_m\":[-1.0,-0.001],\"opening_clearance_m\":[0.0,0.5]}}","kind":"card","language":"en","measurement_fields_json":"{\"angular_velocity_rad_s\":\"vector[3]\",\"escaped\":\"bool\",\"forbidden_contact\":\"bool\",\"goal_relative_position_m\":\"vector[3]\",\"goal_relative_quat_wxyz\":\"vector[4]\",\"gripper_aperture_m\":\"number\",\"gripper_target_contact_force_n\":\"number\",\"linear_velocity_m_s\":\"vector[3]\",\"measurement_time_s\":\"number\",\"min_containment_margin_m\":\"number\",\"object_released\":\"bool\",\"opening_clearance_m\":\"number\",\"retention_force_n\":\"number\",\"t_s\":\"number\",\"target_id\":\"string\"}","measurement_semantics_json":"{\"cap_adapter_pose\":\"Pose residual with respect to nominal retained cap-in-adapter transform, not raw object-origin separation\",\"min_containment_margin_m\":\"Minimum signed clearance of every card mesh point to the selected box interior; positive is contained\",\"opening_clearance_m\":\"Minimum signed card mesh distance beyond the selected opening plane; positive is fully extracted\",\"position_frames\":\"Named task goal frame; quaternion wxyz relative to desired goal orientation\",\"velocity_frame\":\"Asset frame; linear and angular vectors are measured from the manipulated object\"}","parameter_provenance":"AstroBench engineering task parameters in SI units","prompt_template":"Insert the card fully into the {target_name}, release it, and leave it retained inside.","protocol_json":"{\"gravity_m_s2\":0.0,\"horizon_s\":30.0,\"initial_angle_tolerance_rad\":0.01,\"initial_position_tolerance_m\":0.002,\"max_sample_gap_s\":0.025,\"robot_base\":\"fixed\",\"terminal_hold_s\":1.0,\"units\":\"meters_radians_seconds_newtons\",\"version\":\"astrobench.workcell-state/1\"}","reset_frame":"opening","target_count":3,"target_ids":["Front_quarter_box","Middle_quarter_box","Rear_half_box"],"target_names":["front quarter box","middle quarter box","rear half box"],"task_id":"card_insert","task_spec_json":"{\"goal_frame\":\"inserted\",\"initial_state\":{\"goal_relative_position_m\":[0.0,0.0,0.1435],\"goal_relative_quat_wxyz\":[1.0,0.0,0.0,0.0],\"object_released\":false},\"initial_validation\":{\"angle_tolerance_rad\":0.01,\"fastener_axial_tolerance_m\":0.0001,\"max_angular_speed_rad_s\":0.01,\"max_linear_speed_m_s\":0.002,\"position_tolerance_m\":0.002,\"ranges\":{\"gripper_aperture_m\":[0.0,0.03],\"gripper_target_contact_force_n\":[0.01,100.0],\"min_containment_margin_m\":[-1.0,-0.001],\"opening_clearance_m\":[0.0,0.5]}},\"kind\":\"card\",\"measurement_semantics\":{\"cap_adapter_pose\":\"Pose residual with respect to nominal retained cap-in-adapter transform, not raw object-origin separation\",\"min_containment_margin_m\":\"Minimum signed clearance of every card mesh point to the selected box interior; positive is contained\",\"opening_clearance_m\":\"Minimum signed card mesh distance beyond the selected opening plane; positive is fully extracted\",\"position_frames\":\"Named task goal frame; quaternion wxyz relative to desired goal orientation\",\"velocity_frame\":\"Asset frame; linear and angular vectors are measured from the manipulated object\"},\"measurement_template\":{\"goal_relative_position_m\":[0.12,0.0,0.0],\"goal_relative_quat_wxyz\":[1.0,0.0,0.0,0.0],\"gripper_aperture_m\":0.015,\"gripper_target_contact_force_n\":0.1,\"min_containment_margin_m\":-0.05,\"object_released\":false,\"opening_clearance_m\":0.1,\"retention_force_n\":0.0},\"parameter_provenance\":\"AstroBench engineering task parameters in SI units\",\"reset_frame\":\"opening\",\"target_ids\":[\"Front_quarter_box\",\"Middle_quarter_box\",\"Rear_half_box\"],\"thresholds\":{\"grasp_max_aperture_m\":0.03,\"max_angular_speed_rad_s\":0.2,\"max_linear_speed_m_s\":0.02,\"min_containment_margin_m\":0.0,\"min_extraction_clearance_m\":0.02,\"min_grasp_contact_force_n\":0.01,\"min_retention_force_n\":0.01,\"orientation_tolerance_rad\":0.08726646259971647,\"position_tolerance_m\":0.005,\"released_min_aperture_m\":0.04},\"title\":\"Insert and retain sample card in selected box\",\"workcell_id\":\"melfi_v6\"}","thresholds_json":"{\"grasp_max_aperture_m\":0.03,\"max_angular_speed_rad_s\":0.2,\"max_linear_speed_m_s\":0.02,\"min_containment_margin_m\":0.0,\"min_extraction_clearance_m\":0.02,\"min_grasp_contact_force_n\":0.01,\"min_retention_force_n\":0.01,\"orientation_tolerance_rad\":0.08726646259971647,\"position_tolerance_m\":0.005,\"released_min_aperture_m\":0.04}","title":"Insert and retain sample card in selected box","workcell_id":"melfi_v6"}
{"goal_frame":"opening","horizon_s":30.0,"initial_state_json":"{\"goal_relative_position_m\":[0.12,0.0,0.0],\"goal_relative_quat_wxyz\":[1.0,0.0,0.0,0.0],\"object_released\":true}","initial_validation_json":"{\"angle_tolerance_rad\":0.01,\"fastener_axial_tolerance_m\":0.0001,\"max_angular_speed_rad_s\":0.01,\"max_linear_speed_m_s\":0.002,\"position_tolerance_m\":0.002,\"ranges\":{\"gripper_aperture_m\":[0.04,0.09],\"gripper_target_contact_force_n\":[0.0,0.001],\"min_containment_margin_m\":[-1.0,-0.001],\"opening_clearance_m\":[0.0,0.5]}}","kind":"card","language":"en","measurement_fields_json":"{\"angular_velocity_rad_s\":\"vector[3]\",\"escaped\":\"bool\",\"forbidden_contact\":\"bool\",\"goal_relative_position_m\":\"vector[3]\",\"goal_relative_quat_wxyz\":\"vector[4]\",\"gripper_aperture_m\":\"number\",\"gripper_target_contact_force_n\":\"number\",\"linear_velocity_m_s\":\"vector[3]\",\"measurement_time_s\":\"number\",\"min_containment_margin_m\":\"number\",\"object_released\":\"bool\",\"opening_clearance_m\":\"number\",\"retention_force_n\":\"number\",\"t_s\":\"number\",\"target_id\":\"string\"}","measurement_semantics_json":"{\"cap_adapter_pose\":\"Pose residual with respect to nominal retained cap-in-adapter transform, not raw object-origin separation\",\"min_containment_margin_m\":\"Minimum signed clearance of every card mesh point to the selected box interior; positive is contained\",\"opening_clearance_m\":\"Minimum signed card mesh distance beyond the selected opening plane; positive is fully extracted\",\"position_frames\":\"Named task goal frame; quaternion wxyz relative to desired goal orientation\",\"velocity_frame\":\"Asset frame; linear and angular vectors are measured from the manipulated object\"}","parameter_provenance":"AstroBench engineering task parameters in SI units","prompt_template":"Move the card to the opening of the {target_name} and hold it aligned.","protocol_json":"{\"gravity_m_s2\":0.0,\"horizon_s\":30.0,\"initial_angle_tolerance_rad\":0.01,\"initial_position_tolerance_m\":0.002,\"max_sample_gap_s\":0.025,\"robot_base\":\"fixed\",\"terminal_hold_s\":1.0,\"units\":\"meters_radians_seconds_newtons\",\"version\":\"astrobench.workcell-state/1\"}","reset_frame":"opening_plus_lateral_offset","target_count":3,"target_ids":["Front_quarter_box","Middle_quarter_box","Rear_half_box"],"target_names":["front quarter box","middle quarter box","rear half box"],"task_id":"card_transfer_to_mouth","task_spec_json":"{\"goal_frame\":\"opening\",\"initial_state\":{\"goal_relative_position_m\":[0.12,0.0,0.0],\"goal_relative_quat_wxyz\":[1.0,0.0,0.0,0.0],\"object_released\":true},\"initial_validation\":{\"angle_tolerance_rad\":0.01,\"fastener_axial_tolerance_m\":0.0001,\"max_angular_speed_rad_s\":0.01,\"max_linear_speed_m_s\":0.002,\"position_tolerance_m\":0.002,\"ranges\":{\"gripper_aperture_m\":[0.04,0.09],\"gripper_target_contact_force_n\":[0.0,0.001],\"min_containment_margin_m\":[-1.0,-0.001],\"opening_clearance_m\":[0.0,0.5]}},\"kind\":\"card\",\"measurement_semantics\":{\"cap_adapter_pose\":\"Pose residual with respect to nominal retained cap-in-adapter transform, not raw object-origin separation\",\"min_containment_margin_m\":\"Minimum signed clearance of every card mesh point to the selected box interior; positive is contained\",\"opening_clearance_m\":\"Minimum signed card mesh distance beyond the selected opening plane; positive is fully extracted\",\"position_frames\":\"Named task goal frame; quaternion wxyz relative to desired goal orientation\",\"velocity_frame\":\"Asset frame; linear and angular vectors are measured from the manipulated object\"},\"measurement_template\":{\"goal_relative_position_m\":[0.12,0.0,0.0],\"goal_relative_quat_wxyz\":[1.0,0.0,0.0,0.0],\"gripper_aperture_m\":0.06,\"gripper_target_contact_force_n\":0.0,\"min_containment_margin_m\":-0.05,\"object_released\":false,\"opening_clearance_m\":0.1,\"retention_force_n\":0.0},\"parameter_provenance\":\"AstroBench engineering task parameters in SI units\",\"reset_frame\":\"opening_plus_lateral_offset\",\"target_ids\":[\"Front_quarter_box\",\"Middle_quarter_box\",\"Rear_half_box\"],\"thresholds\":{\"grasp_max_aperture_m\":0.03,\"max_angular_speed_rad_s\":0.2,\"max_linear_speed_m_s\":0.02,\"min_containment_margin_m\":0.0,\"min_extraction_clearance_m\":0.02,\"min_grasp_contact_force_n\":0.01,\"min_retention_force_n\":0.01,\"orientation_tolerance_rad\":0.08726646259971647,\"position_tolerance_m\":0.005,\"released_min_aperture_m\":0.04},\"title\":\"Transfer sample card to selected box opening\",\"workcell_id\":\"melfi_v6\"}","thresholds_json":"{\"grasp_max_aperture_m\":0.03,\"max_angular_speed_rad_s\":0.2,\"max_linear_speed_m_s\":0.02,\"min_containment_margin_m\":0.0,\"min_extraction_clearance_m\":0.02,\"min_grasp_contact_force_n\":0.01,\"min_retention_force_n\":0.01,\"orientation_tolerance_rad\":0.08726646259971647,\"position_tolerance_m\":0.005,\"released_min_aperture_m\":0.04}","title":"Transfer sample card to selected box opening","workcell_id":"melfi_v6"}
{"goal_frame":"target","horizon_s":30.0,"initial_state_json":"{\"driver_attached\":true,\"fastener_angle_rad\":0.0,\"fastener_axial_m\":0.0,\"receiver_flange_captured\":false,\"thread_engaged\":true}","initial_validation_json":"{\"angle_tolerance_rad\":0.01,\"fastener_axial_tolerance_m\":0.0001,\"max_angular_speed_rad_s\":0.01,\"max_linear_speed_m_s\":0.002,\"position_tolerance_m\":0.002,\"ranges\":{\"cap_retention_force_n\":[0.0,0.001],\"driver_clearance_m\":[0.0,0.003],\"receiver_support_force_n\":[0.0,0.001]}}","kind":"cap","language":"en","measurement_fields_json":"{\"adapter_goal_position_m\":\"vector[3]\",\"adapter_goal_quat_wxyz\":\"vector[4]\",\"angular_velocity_rad_s\":\"vector[3]\",\"cap_adapter_angular_velocity_rad_s\":\"vector[3]\",\"cap_adapter_linear_velocity_m_s\":\"vector[3]\",\"cap_adapter_position_m\":\"vector[3]\",\"cap_adapter_quat_wxyz\":\"vector[4]\",\"cap_retention_force_n\":\"number\",\"driver_attached\":\"bool\",\"driver_clearance_m\":\"number\",\"escaped\":\"bool\",\"fastener_angle_rad\":\"number\",\"fastener_axial_m\":\"number\",\"forbidden_contact\":\"bool\",\"linear_velocity_m_s\":\"vector[3]\",\"measurement_time_s\":\"number\",\"receiver_flange_captured\":\"bool\",\"receiver_latch_positions_m\":\"vector[2]\",\"receiver_support_force_n\":\"number\",\"t_s\":\"number\",\"target_id\":\"string\",\"thread_engaged\":\"bool\"}","measurement_semantics_json":"{\"cap_adapter_pose\":\"Pose residual with respect to nominal retained cap-in-adapter transform, not raw object-origin separation\",\"driver_attached\":\"Measured mechanical coupling between driver and detachable spindle; assembled at reset, disengaged after receiver lock.\",\"driver_clearance_m\":\"Driver withdrawal from the nominal detachable-spindle coupling interface, in metres; not tool-to-cap distance.\",\"min_containment_margin_m\":\"Minimum signed clearance of every card mesh point to the selected box interior; positive is contained\",\"opening_clearance_m\":\"Minimum signed card mesh distance beyond the selected opening plane; positive is fully extracted\",\"position_frames\":\"Named task goal frame; quaternion wxyz relative to desired goal orientation\",\"velocity_frame\":\"Asset frame; linear and angular vectors are measured from the manipulated object\"}","parameter_provenance":"AstroBench engineering task parameters in SI units","prompt_template":"Unscrew and remove the {target_name}, retain it in its adapter, dock the adapter in its stowage holder, and withdraw the driver.","protocol_json":"{\"gravity_m_s2\":0.0,\"horizon_s\":30.0,\"initial_angle_tolerance_rad\":0.01,\"initial_position_tolerance_m\":0.002,\"max_sample_gap_s\":0.025,\"robot_base\":\"fixed\",\"terminal_hold_s\":1.0,\"units\":\"meters_radians_seconds_newtons\",\"version\":\"astrobench.workcell-state/1\"}","reset_frame":"","target_count":1,"target_ids":["FDV1"],"target_names":["FDV1 cap"],"task_id":"fdv1_remove_stow","task_spec_json":"{\"goal_frame\":\"target\",\"initial_state\":{\"driver_attached\":true,\"fastener_angle_rad\":0.0,\"fastener_axial_m\":0.0,\"receiver_flange_captured\":false,\"thread_engaged\":true},\"initial_validation\":{\"angle_tolerance_rad\":0.01,\"fastener_axial_tolerance_m\":0.0001,\"max_angular_speed_rad_s\":0.01,\"max_linear_speed_m_s\":0.002,\"position_tolerance_m\":0.002,\"ranges\":{\"cap_retention_force_n\":[0.0,0.001],\"driver_clearance_m\":[0.0,0.003],\"receiver_support_force_n\":[0.0,0.001]}},\"kind\":\"cap\",\"measurement_semantics\":{\"cap_adapter_pose\":\"Pose residual with respect to nominal retained cap-in-adapter transform, not raw object-origin separation\",\"driver_attached\":\"Measured mechanical coupling between driver and detachable spindle; assembled at reset, disengaged after receiver lock.\",\"driver_clearance_m\":\"Driver withdrawal from the nominal detachable-spindle coupling interface, in metres; not tool-to-cap distance.\",\"min_containment_margin_m\":\"Minimum signed clearance of every card mesh point to the selected box interior; positive is contained\",\"opening_clearance_m\":\"Minimum signed card mesh distance beyond the selected opening plane; positive is fully extracted\",\"position_frames\":\"Named task goal frame; quaternion wxyz relative to desired goal orientation\",\"velocity_frame\":\"Asset frame; linear and angular vectors are measured from the manipulated object\"},\"measurement_template\":{\"adapter_goal_position_m\":[0.15,0.0,0.1],\"adapter_goal_quat_wxyz\":[1.0,0.0,0.0,0.0],\"cap_adapter_angular_velocity_rad_s\":[0.0,0.0,0.0],\"cap_adapter_linear_velocity_m_s\":[0.0,0.0,0.0],\"cap_adapter_position_m\":[0.0,0.0,-0.1],\"cap_adapter_quat_wxyz\":[1.0,0.0,0.0,0.0],\"cap_retention_force_n\":0.0,\"driver_attached\":true,\"driver_clearance_m\":0.0,\"fastener_angle_rad\":0.0,\"fastener_axial_m\":0.0,\"receiver_flange_captured\":false,\"receiver_latch_positions_m\":[0.004,0.004],\"receiver_support_force_n\":0.0,\"thread_engaged\":true},\"parameter_provenance\":\"AstroBench engineering task parameters in SI units\",\"target_ids\":[\"FDV1\"],\"thresholds\":{\"cap_orientation_tolerance_rad\":0.05235987755982989,\"cap_position_tolerance_m\":0.003,\"latch_closed_tolerance_m\":0.0002,\"max_angular_speed_rad_s\":0.1,\"max_cap_relative_angular_speed_rad_s\":0.1,\"max_cap_relative_linear_speed_m_s\":0.01,\"max_linear_speed_m_s\":0.001,\"min_driver_clearance_m\":0.1,\"min_retention_force_n\":0.01,\"min_support_force_n\":0.01,\"min_withdrawal_m\":0.06,\"release_turns\":2.0,\"stow_orientation_tolerance_rad\":0.06,\"stow_position_tolerance_m\":0.002,\"thread_pitch_m\":0.001,\"thread_release_travel_m\":0.002},\"title\":\"Remove and stow FDV1 tertiary cap\",\"workcell_id\":\"rrm_tb1\"}","thresholds_json":"{\"cap_orientation_tolerance_rad\":0.05235987755982989,\"cap_position_tolerance_m\":0.003,\"latch_closed_tolerance_m\":0.0002,\"max_angular_speed_rad_s\":0.1,\"max_cap_relative_angular_speed_rad_s\":0.1,\"max_cap_relative_linear_speed_m_s\":0.01,\"max_linear_speed_m_s\":0.001,\"min_driver_clearance_m\":0.1,\"min_retention_force_n\":0.01,\"min_support_force_n\":0.01,\"min_withdrawal_m\":0.06,\"release_turns\":2.0,\"stow_orientation_tolerance_rad\":0.06,\"stow_position_tolerance_m\":0.002,\"thread_pitch_m\":0.001,\"thread_release_travel_m\":0.002}","title":"Remove and stow FDV1 tertiary cap","workcell_id":"rrm_tb1"}
{"goal_frame":"target","horizon_s":30.0,"initial_state_json":"{\"lid_angle_rad\":1.4835298641951802,\"lid_latch_closed\":false,\"lid_latch_engaged\":false}","initial_validation_json":"{\"angle_tolerance_rad\":0.01,\"fastener_axial_tolerance_m\":0.0001,\"max_angular_speed_rad_s\":0.01,\"max_linear_speed_m_s\":0.002,\"position_tolerance_m\":0.002,\"ranges\":{\"driver_clearance_m\":[0.05,5.0]}}","kind":"lid","language":"en","measurement_fields_json":"{\"angular_velocity_rad_s\":\"vector[3]\",\"driver_clearance_m\":\"number\",\"escaped\":\"bool\",\"forbidden_contact\":\"bool\",\"lid_angle_rad\":\"number\",\"lid_latch_closed\":\"bool\",\"lid_latch_engaged\":\"bool\",\"linear_velocity_m_s\":\"vector[3]\",\"measurement_time_s\":\"number\",\"t_s\":\"number\",\"target_id\":\"string\"}","measurement_semantics_json":"{\"cap_adapter_pose\":\"Pose residual with respect to nominal retained cap-in-adapter transform, not raw object-origin separation\",\"min_containment_margin_m\":\"Minimum signed clearance of every card mesh point to the selected box interior; positive is contained\",\"opening_clearance_m\":\"Minimum signed card mesh distance beyond the selected opening plane; positive is fully extracted\",\"position_frames\":\"Named task goal frame; quaternion wxyz relative to desired goal orientation\",\"velocity_frame\":\"Asset frame; linear and angular vectors are measured from the manipulated object\"}","parameter_provenance":"AstroBench engineering task parameters in SI units","prompt_template":"Close and latch the lid of the {target_name}, then withdraw the gripper.","protocol_json":"{\"gravity_m_s2\":0.0,\"horizon_s\":30.0,\"initial_angle_tolerance_rad\":0.01,\"initial_position_tolerance_m\":0.002,\"max_sample_gap_s\":0.025,\"robot_base\":\"fixed\",\"terminal_hold_s\":1.0,\"units\":\"meters_radians_seconds_newtons\",\"version\":\"astrobench.workcell-state/1\"}","reset_frame":"","target_count":3,"target_ids":["Front_quarter_box","Middle_quarter_box","Rear_half_box"],"target_names":["front quarter box","middle quarter box","rear half box"],"task_id":"lid_close","task_spec_json":"{\"goal_frame\":\"target\",\"initial_state\":{\"lid_angle_rad\":1.4835298641951802,\"lid_latch_closed\":false,\"lid_latch_engaged\":false},\"initial_validation\":{\"angle_tolerance_rad\":0.01,\"fastener_axial_tolerance_m\":0.0001,\"max_angular_speed_rad_s\":0.01,\"max_linear_speed_m_s\":0.002,\"position_tolerance_m\":0.002,\"ranges\":{\"driver_clearance_m\":[0.05,5.0]}},\"kind\":\"lid\",\"measurement_semantics\":{\"cap_adapter_pose\":\"Pose residual with respect to nominal retained cap-in-adapter transform, not raw object-origin separation\",\"min_containment_margin_m\":\"Minimum signed clearance of every card mesh point to the selected box interior; positive is contained\",\"opening_clearance_m\":\"Minimum signed card mesh distance beyond the selected opening plane; positive is fully extracted\",\"position_frames\":\"Named task goal frame; quaternion wxyz relative to desired goal orientation\",\"velocity_frame\":\"Asset frame; linear and angular vectors are measured from the manipulated object\"},\"measurement_template\":{\"driver_clearance_m\":0.1,\"lid_angle_rad\":1.4835298641951802,\"lid_latch_closed\":false,\"lid_latch_engaged\":false},\"parameter_provenance\":\"AstroBench engineering task parameters in SI units\",\"target_ids\":[\"Front_quarter_box\",\"Middle_quarter_box\",\"Rear_half_box\"],\"thresholds\":{\"closed_max_angle_rad\":0.05235987755982989,\"max_angular_speed_rad_s\":0.1,\"max_linear_speed_m_s\":0.02,\"min_driver_clearance_m\":0.05,\"open_min_angle_rad\":1.3089969389957472},\"title\":\"Close and latch selected sample box lid\",\"workcell_id\":\"melfi_v6\"}","thresholds_json":"{\"closed_max_angle_rad\":0.05235987755982989,\"max_angular_speed_rad_s\":0.1,\"max_linear_speed_m_s\":0.02,\"min_driver_clearance_m\":0.05,\"open_min_angle_rad\":1.3089969389957472}","title":"Close and latch selected sample box lid","workcell_id":"melfi_v6"}
{"goal_frame":"target","horizon_s":30.0,"initial_state_json":"{\"lid_angle_rad\":0.0,\"lid_latch_closed\":true,\"lid_latch_engaged\":true}","initial_validation_json":"{\"angle_tolerance_rad\":0.01,\"fastener_axial_tolerance_m\":0.0001,\"max_angular_speed_rad_s\":0.01,\"max_linear_speed_m_s\":0.002,\"position_tolerance_m\":0.002,\"ranges\":{\"driver_clearance_m\":[0.05,5.0]}}","kind":"lid","language":"en","measurement_fields_json":"{\"angular_velocity_rad_s\":\"vector[3]\",\"driver_clearance_m\":\"number\",\"escaped\":\"bool\",\"forbidden_contact\":\"bool\",\"lid_angle_rad\":\"number\",\"lid_latch_closed\":\"bool\",\"lid_latch_engaged\":\"bool\",\"linear_velocity_m_s\":\"vector[3]\",\"measurement_time_s\":\"number\",\"t_s\":\"number\",\"target_id\":\"string\"}","measurement_semantics_json":"{\"cap_adapter_pose\":\"Pose residual with respect to nominal retained cap-in-adapter transform, not raw object-origin separation\",\"min_containment_margin_m\":\"Minimum signed clearance of every card mesh point to the selected box interior; positive is contained\",\"opening_clearance_m\":\"Minimum signed card mesh distance beyond the selected opening plane; positive is fully extracted\",\"position_frames\":\"Named task goal frame; quaternion wxyz relative to desired goal orientation\",\"velocity_frame\":\"Asset frame; linear and angular vectors are measured from the manipulated object\"}","parameter_provenance":"AstroBench engineering task parameters in SI units","prompt_template":"Open the lid of the {target_name} and leave it open.","protocol_json":"{\"gravity_m_s2\":0.0,\"horizon_s\":30.0,\"initial_angle_tolerance_rad\":0.01,\"initial_position_tolerance_m\":0.002,\"max_sample_gap_s\":0.025,\"robot_base\":\"fixed\",\"terminal_hold_s\":1.0,\"units\":\"meters_radians_seconds_newtons\",\"version\":\"astrobench.workcell-state/1\"}","reset_frame":"","target_count":3,"target_ids":["Front_quarter_box","Middle_quarter_box","Rear_half_box"],"target_names":["front quarter box","middle quarter box","rear half box"],"task_id":"lid_open","task_spec_json":"{\"goal_frame\":\"target\",\"initial_state\":{\"lid_angle_rad\":0.0,\"lid_latch_closed\":true,\"lid_latch_engaged\":true},\"initial_validation\":{\"angle_tolerance_rad\":0.01,\"fastener_axial_tolerance_m\":0.0001,\"max_angular_speed_rad_s\":0.01,\"max_linear_speed_m_s\":0.002,\"position_tolerance_m\":0.002,\"ranges\":{\"driver_clearance_m\":[0.05,5.0]}},\"kind\":\"lid\",\"measurement_semantics\":{\"cap_adapter_pose\":\"Pose residual with respect to nominal retained cap-in-adapter transform, not raw object-origin separation\",\"min_containment_margin_m\":\"Minimum signed clearance of every card mesh point to the selected box interior; positive is contained\",\"opening_clearance_m\":\"Minimum signed card mesh distance beyond the selected opening plane; positive is fully extracted\",\"position_frames\":\"Named task goal frame; quaternion wxyz relative to desired goal orientation\",\"velocity_frame\":\"Asset frame; linear and angular vectors are measured from the manipulated object\"},\"measurement_template\":{\"driver_clearance_m\":0.1,\"lid_angle_rad\":0.0,\"lid_latch_closed\":true,\"lid_latch_engaged\":true},\"parameter_provenance\":\"AstroBench engineering task parameters in SI units\",\"target_ids\":[\"Front_quarter_box\",\"Middle_quarter_box\",\"Rear_half_box\"],\"thresholds\":{\"closed_max_angle_rad\":0.05235987755982989,\"max_angular_speed_rad_s\":0.1,\"max_linear_speed_m_s\":0.02,\"min_driver_clearance_m\":0.05,\"open_min_angle_rad\":1.3089969389957472},\"title\":\"Open selected sample box lid\",\"workcell_id\":\"melfi_v6\"}","thresholds_json":"{\"closed_max_angle_rad\":0.05235987755982989,\"max_angular_speed_rad_s\":0.1,\"max_linear_speed_m_s\":0.02,\"min_driver_clearance_m\":0.05,\"open_min_angle_rad\":1.3089969389957472}","title":"Open selected sample box lid","workcell_id":"melfi_v6"}
{"goal_frame":"target","horizon_s":30.0,"initial_state_json":"{\"driver_attached\":true,\"fastener_angle_rad\":0.0,\"fastener_axial_m\":0.0,\"receiver_flange_captured\":false,\"thread_engaged\":true}","initial_validation_json":"{\"angle_tolerance_rad\":0.01,\"fastener_axial_tolerance_m\":0.0001,\"max_angular_speed_rad_s\":0.01,\"max_linear_speed_m_s\":0.002,\"position_tolerance_m\":0.002,\"ranges\":{\"cap_retention_force_n\":[0.0,0.001],\"driver_clearance_m\":[0.0,0.003],\"receiver_support_force_n\":[0.0,0.001]}}","kind":"cap","language":"en","measurement_fields_json":"{\"adapter_goal_position_m\":\"vector[3]\",\"adapter_goal_quat_wxyz\":\"vector[4]\",\"angular_velocity_rad_s\":\"vector[3]\",\"cap_adapter_angular_velocity_rad_s\":\"vector[3]\",\"cap_adapter_linear_velocity_m_s\":\"vector[3]\",\"cap_adapter_position_m\":\"vector[3]\",\"cap_adapter_quat_wxyz\":\"vector[4]\",\"cap_retention_force_n\":\"number\",\"driver_attached\":\"bool\",\"driver_clearance_m\":\"number\",\"escaped\":\"bool\",\"fastener_angle_rad\":\"number\",\"fastener_axial_m\":\"number\",\"forbidden_contact\":\"bool\",\"linear_velocity_m_s\":\"vector[3]\",\"measurement_time_s\":\"number\",\"receiver_flange_captured\":\"bool\",\"receiver_latch_positions_m\":\"vector[2]\",\"receiver_support_force_n\":\"number\",\"t_s\":\"number\",\"target_id\":\"string\",\"thread_engaged\":\"bool\"}","measurement_semantics_json":"{\"cap_adapter_pose\":\"Pose residual with respect to nominal retained cap-in-adapter transform, not raw object-origin separation\",\"driver_attached\":\"Measured mechanical coupling between driver and detachable spindle; assembled at reset, disengaged after receiver lock.\",\"driver_clearance_m\":\"Driver withdrawal from the nominal detachable-spindle coupling interface, in metres; not tool-to-cap distance.\",\"min_containment_margin_m\":\"Minimum signed clearance of every card mesh point to the selected box interior; positive is contained\",\"opening_clearance_m\":\"Minimum signed card mesh distance beyond the selected opening plane; positive is fully extracted\",\"position_frames\":\"Named task goal frame; quaternion wxyz relative to desired goal orientation\",\"velocity_frame\":\"Asset frame; linear and angular vectors are measured from the manipulated object\"}","parameter_provenance":"AstroBench engineering task parameters in SI units","prompt_template":"Unscrew and remove the {target_name}, retain it in its adapter, dock the adapter in its stowage holder, and withdraw the driver.","protocol_json":"{\"gravity_m_s2\":0.0,\"horizon_s\":30.0,\"initial_angle_tolerance_rad\":0.01,\"initial_position_tolerance_m\":0.002,\"max_sample_gap_s\":0.025,\"robot_base\":\"fixed\",\"terminal_hold_s\":1.0,\"units\":\"meters_radians_seconds_newtons\",\"version\":\"astrobench.workcell-state/1\"}","reset_frame":"","target_count":9,"target_ids":["SMA_1_1","SMA_1_2","SMA_1_3","SMA_2_1","SMA_2_2","SMA_2_3","SMA_3_1","SMA_3_2","SMA_3_3"],"target_names":["SMA cap at row 1, column 1","SMA cap at row 1, column 2","SMA cap at row 1, column 3","SMA cap at row 2, column 1","SMA cap at row 2, column 2","SMA cap at row 2, column 3","SMA cap at row 3, column 1","SMA cap at row 3, column 2","SMA cap at row 3, column 3"],"task_id":"sma_remove_stow","task_spec_json":"{\"goal_frame\":\"target\",\"initial_state\":{\"driver_attached\":true,\"fastener_angle_rad\":0.0,\"fastener_axial_m\":0.0,\"receiver_flange_captured\":false,\"thread_engaged\":true},\"initial_validation\":{\"angle_tolerance_rad\":0.01,\"fastener_axial_tolerance_m\":0.0001,\"max_angular_speed_rad_s\":0.01,\"max_linear_speed_m_s\":0.002,\"position_tolerance_m\":0.002,\"ranges\":{\"cap_retention_force_n\":[0.0,0.001],\"driver_clearance_m\":[0.0,0.003],\"receiver_support_force_n\":[0.0,0.001]}},\"kind\":\"cap\",\"measurement_semantics\":{\"cap_adapter_pose\":\"Pose residual with respect to nominal retained cap-in-adapter transform, not raw object-origin separation\",\"driver_attached\":\"Measured mechanical coupling between driver and detachable spindle; assembled at reset, disengaged after receiver lock.\",\"driver_clearance_m\":\"Driver withdrawal from the nominal detachable-spindle coupling interface, in metres; not tool-to-cap distance.\",\"min_containment_margin_m\":\"Minimum signed clearance of every card mesh point to the selected box interior; positive is contained\",\"opening_clearance_m\":\"Minimum signed card mesh distance beyond the selected opening plane; positive is fully extracted\",\"position_frames\":\"Named task goal frame; quaternion wxyz relative to desired goal orientation\",\"velocity_frame\":\"Asset frame; linear and angular vectors are measured from the manipulated object\"},\"measurement_template\":{\"adapter_goal_position_m\":[0.15,0.0,0.1],\"adapter_goal_quat_wxyz\":[1.0,0.0,0.0,0.0],\"cap_adapter_angular_velocity_rad_s\":[0.0,0.0,0.0],\"cap_adapter_linear_velocity_m_s\":[0.0,0.0,0.0],\"cap_adapter_position_m\":[0.0,0.0,-0.1],\"cap_adapter_quat_wxyz\":[1.0,0.0,0.0,0.0],\"cap_retention_force_n\":0.0,\"driver_attached\":true,\"driver_clearance_m\":0.0,\"fastener_angle_rad\":0.0,\"fastener_axial_m\":0.0,\"receiver_flange_captured\":false,\"receiver_latch_positions_m\":[0.004,0.004],\"receiver_support_force_n\":0.0,\"thread_engaged\":true},\"parameter_provenance\":\"AstroBench engineering task parameters in SI units\",\"target_ids\":[\"SMA_1_1\",\"SMA_1_2\",\"SMA_1_3\",\"SMA_2_1\",\"SMA_2_2\",\"SMA_2_3\",\"SMA_3_1\",\"SMA_3_2\",\"SMA_3_3\"],\"thresholds\":{\"cap_orientation_tolerance_rad\":0.05235987755982989,\"cap_position_tolerance_m\":0.003,\"latch_closed_tolerance_m\":0.0002,\"max_angular_speed_rad_s\":0.1,\"max_cap_relative_angular_speed_rad_s\":0.1,\"max_cap_relative_linear_speed_m_s\":0.01,\"max_linear_speed_m_s\":0.001,\"min_driver_clearance_m\":0.1,\"min_retention_force_n\":0.01,\"min_support_force_n\":0.01,\"min_withdrawal_m\":0.035,\"release_turns\":2.0,\"stow_orientation_tolerance_rad\":0.06,\"stow_position_tolerance_m\":0.002,\"thread_pitch_m\":0.000706,\"thread_release_travel_m\":0.001412},\"title\":\"Remove and stow selected SMA cap\",\"workcell_id\":\"rrm_tb1\"}","thresholds_json":"{\"cap_orientation_tolerance_rad\":0.05235987755982989,\"cap_position_tolerance_m\":0.003,\"latch_closed_tolerance_m\":0.0002,\"max_angular_speed_rad_s\":0.1,\"max_cap_relative_angular_speed_rad_s\":0.1,\"max_cap_relative_linear_speed_m_s\":0.01,\"max_linear_speed_m_s\":0.001,\"min_driver_clearance_m\":0.1,\"min_retention_force_n\":0.01,\"min_support_force_n\":0.01,\"min_withdrawal_m\":0.035,\"release_turns\":2.0,\"stow_orientation_tolerance_rad\":0.06,\"stow_position_tolerance_m\":0.002,\"thread_pitch_m\":0.000706,\"thread_release_travel_m\":0.001412}","title":"Remove and stow selected SMA cap","workcell_id":"rrm_tb1"}