| [{"caption":"look over the counter (left/right stay fixed from the starting aisle)","start":0,"end":30,"kind":"look","caption_grounding":{"version":2,"start_tick":0,"caption":"look over the counter (left/right stay fixed from the starting aisle)","targets":[],"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"6 parcels on the counter, a balance and an answer box","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_0","parcel_1","parcel_2","parcel_3","parcel_4","parcel_5"]}},{"caption":"clear what hides a parcel and bring every parcel within reach","start":30,"end":726,"kind":"uncover","parts":["parcel_3"],"mechanisms":["cloche_small"],"caption_grounding":{"version":2,"start_tick":30,"caption":"clear what hides a parcel and bring every parcel within reach","targets":[{"label":"the right parcel on the counter","location":"counter","position_task":[-0.1624440000000001,-0.12196500000000003,0.024946594839257097],"stack":{"below":null,"above":[],"members":["parcel_3"]},"candidate_ids":["parcel_3"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_3","generated_at_tick":30,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.484964447859855,-3.387443464241533,0.9449465948392571],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"every parcel is uncovered and on the counter","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_0","parcel_1","parcel_2","parcel_3","parcel_4","parcel_5"]}},{"caption":"lift the cloche cover_parcel_3 by its knob","start":30,"end":505,"kind":"uncover","skill":"lift_cloche"},{"caption":"pick up the upper parcel in the rightmost left stack on the counter","start":726,"end":944,"kind":"take","part":"parcel_4","source":"stack","caption_grounding":{"version":2,"start_tick":726,"caption":"pick up the upper parcel in the rightmost left stack on the counter","targets":[{"label":"the upper parcel in the rightmost left stack on the counter","location":"counter","position_task":[-0.318097276188775,-0.1427074099094778,0.07489136335931434],"stack":{"below":"parcel_5","above":[],"members":["parcel_4","parcel_5"]},"candidate_ids":["parcel_4"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_4","generated_at_tick":726,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.505706957406217,-3.5430967271526295,0.9948913633593144],"stack_contact_pairs":[["parcel_4","parcel_5"]]}],"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel is off the stack and in the hand","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_0","parcel_1","parcel_2","parcel_3","parcel_4","parcel_5"]}},{"caption":"set the parcel in the gripper down on a clear part of the counter","start":944,"end":1159,"kind":"place","part":"parcel_4","caption_grounding":{"version":2,"start_tick":944,"caption":"set the parcel in the gripper down on a clear part of the counter","targets":[{"label":"the parcel in the gripper","location":"hand","position_task":[-0.30941653662670043,-0.27353744069683955,0.23360778588247133],"stack":{"below":null,"above":[],"members":["parcel_4"]},"candidate_ids":["parcel_4"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_4","generated_at_tick":944,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.6365369826368306,-3.5344159038435423,1.1536077858824714],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel stands alone on the counter","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_0","parcel_1","parcel_2","parcel_3","parcel_4","parcel_5"]}},{"caption":"drive up to the balance","start":1159,"end":1307,"kind":"drive","parts":["left_pan","right_pan"],"caption_grounding":{"version":2,"start_tick":1159,"caption":"drive up to the balance","targets":[],"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the robot stands at the balance, both pans within reach","reach":{"left_pan":{"ahead":0.593,"lateral":-0.013},"right_pan":{"ahead":0.525,"lateral":-0.012}},"info":{"known_normal":[],"known_odd":[],"unknown":["parcel_0","parcel_1","parcel_2","parcel_3","parcel_4","parcel_5"]}},{"caption":"let the empty balance settle and read its resting tilt","start":1307,"end":1332,"kind":"probe","caption_grounding":{"version":2,"start_tick":1307,"caption":"let the empty balance settle and read its resting tilt","targets":[],"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the empty pans hang level","beam_deg":0.0,"info":{"known_normal":[],"known_odd":[],"unknown":["parcel_0","parcel_1","parcel_2","parcel_3","parcel_4","parcel_5"]}},{"caption":"pick up the front-right parcel on the counter","start":1332,"end":1540,"kind":"take","part":"parcel_0","side":"left","caption_grounding":{"version":2,"start_tick":1332,"caption":"pick up the front-right parcel on the counter","targets":[{"label":"the front-right parcel on the counter","location":"counter","position_task":[0.12111100000855242,-0.20067200004072755,0.024946594839257097],"stack":{"below":null,"above":[],"members":["parcel_0"]},"candidate_ids":["parcel_0"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_0","generated_at_tick":1332,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.563671266391134,-3.1038884138510565,0.9449465948392571],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel is in the hand","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_0","parcel_1","parcel_2","parcel_3","parcel_4","parcel_5"]}},{"caption":"put the parcel in the gripper on the left pan","start":1540,"end":1862,"kind":"place","part":"parcel_0","side":"left","caption_grounding":{"version":2,"start_tick":1540,"caption":"put the parcel in the gripper on the left pan","targets":[{"label":"the parcel in the gripper","location":"hand","position_task":[0.10984226001455646,-0.3252062943113339,0.23568371271910304],"stack":{"below":null,"above":[],"members":["parcel_0"]},"candidate_ids":["parcel_0"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_0","generated_at_tick":1540,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.6882055678750687,-3.115157074128067,1.155683712719103],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel rests on the left pan","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_0","parcel_1","parcel_2","parcel_3","parcel_4","parcel_5"]}},{"caption":"pick up the left parcel on the counter","start":1862,"end":2025,"kind":"take","part":"parcel_1","side":"right","caption_grounding":{"version":2,"start_tick":1862,"caption":"pick up the left parcel on the counter","targets":[{"label":"the left parcel on the counter","location":"counter","position_task":[-0.5439447023564746,-0.1464446978871203,0.02497472202309392],"stack":{"below":null,"above":[],"members":["parcel_1"]},"candidate_ids":["parcel_1"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_1","generated_at_tick":1862,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.5094443899534773,-3.7689441509279673,0.944974722023094],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel is in the hand","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_0","parcel_1","parcel_2","parcel_3","parcel_4","parcel_5"]}},{"caption":"put the parcel in the gripper on the right pan","start":2025,"end":2274,"kind":"place","part":"parcel_1","side":"right","caption_grounding":{"version":2,"start_tick":2025,"caption":"put the parcel in the gripper on the right pan","targets":[{"label":"the parcel in the gripper","location":"hand","position_task":[-0.48363247631320605,-0.13653976672964213,0.23723286169284108],"stack":{"below":null,"above":[],"members":["parcel_1"]},"candidate_ids":["parcel_1"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_1","generated_at_tick":2025,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.499539420188895,-3.708631931225063,1.1572328616928411],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel rests on the right pan","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_0","parcel_1","parcel_2","parcel_3","parcel_4","parcel_5"]}},{"caption":"weigh the parcel on the left pan against the parcel on the right pan","start":2274,"end":2309,"kind":"weigh","parts":["parcel_0","parcel_1"],"side":"both","caption_grounding":{"version":2,"start_tick":2274,"caption":"weigh the parcel on the left pan against the parcel on the right pan","targets":[{"label":"the parcel on the left pan","location":"left_pan","position_task":[-0.47767893976393316,0.14996706791619724,0.09709425788748349],"stack":{"below":null,"above":[],"members":["parcel_0"]},"candidate_ids":["parcel_0"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_0","generated_at_tick":2274,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.2130325817321324,-3.7026785780747544,1.0170942578874835],"stack_contact_pairs":[]},{"label":"the parcel on the right pan","location":"right_pan","position_task":[-0.03941660919236874,0.09482694080344066,0.06849536058736883],"stack":{"below":null,"above":[],"members":["parcel_1"]},"candidate_ids":["parcel_1"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_1","generated_at_tick":2274,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.268172428304076,-3.2644162122069416,0.9884953605873689],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"right pan down","beam_deg":4.398,"raw_beam_deg":4.398,"zero_deg":0.0,"info":{"known_normal":[],"known_odd":[],"unknown":["parcel_2","parcel_3","parcel_4","parcel_5"]}},{"caption":"take the parcel on the right pan off the right pan","start":2309,"end":2578,"kind":"take","part":"parcel_1","side":"right","caption_grounding":{"version":2,"start_tick":2309,"caption":"take the parcel on the right pan off the right pan","targets":[{"label":"the parcel on the right pan","location":"right_pan","position_task":[-0.03940981746769968,0.09482600657255168,0.06848581533253173],"stack":{"below":null,"above":[],"members":["parcel_1"]},"candidate_ids":["parcel_1"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_1","generated_at_tick":2309,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.2681733625306175,-3.2644094204816745,0.9884858153325318],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the right pan is empty and the parcel is in the hand","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_2","parcel_3","parcel_4","parcel_5"]}},{"caption":"put the parcel in the gripper back on the counter","start":2578,"end":2791,"kind":"place","part":"parcel_1","side":"right","caption_grounding":{"version":2,"start_tick":2578,"caption":"put the parcel in the gripper back on the counter","targets":[{"label":"the parcel in the gripper","location":"hand","position_task":[-0.04485208442481622,-0.09491070273577798,0.23228062006794492],"stack":{"below":null,"above":[],"members":["parcel_1"]},"candidate_ids":["parcel_1"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_1","generated_at_tick":2578,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.457910075322616,-3.2698515659843896,1.152280620067945],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel stands back on the counter","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_2","parcel_3","parcel_4","parcel_5"]}},{"caption":"pick up the rightmost back-right parcel on the counter","start":2791,"end":3036,"kind":"take","part":"parcel_2","side":"right","caption_grounding":{"version":2,"start_tick":2791,"caption":"pick up the rightmost back-right parcel on the counter","targets":[{"label":"the rightmost back-right parcel on the counter","location":"counter","position_task":[0.1803450000064454,-0.07246400000125047,0.024946594839257097],"stack":{"below":null,"above":[],"members":["parcel_2"]},"candidate_ids":["parcel_2"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_2","generated_at_tick":2791,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.435463228434772,-3.044654495921774,0.9449465948392571],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel is in the hand","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_2","parcel_3","parcel_4","parcel_5"]}},{"caption":"put the parcel in the gripper on the right pan","start":3036,"end":3313,"kind":"place","part":"parcel_2","side":"right","caption_grounding":{"version":2,"start_tick":3036,"caption":"put the parcel in the gripper on the right pan","targets":[{"label":"the parcel in the gripper","location":"hand","position_task":[0.03436260291416725,-0.17994716604062574,0.2339521600078599],"stack":{"below":null,"above":[],"members":["parcel_2"]},"candidate_ids":["parcel_2"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_2","generated_at_tick":3036,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.5429464879204833,-3.1906368242118197,1.15395216000786],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel rests on the right pan","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_2","parcel_3","parcel_4","parcel_5"]}},{"caption":"weigh the parcel on the left pan against the parcel on the right pan","start":3313,"end":3348,"kind":"weigh","parts":["parcel_0","parcel_2"],"side":"both","caption_grounding":{"version":2,"start_tick":3313,"caption":"weigh the parcel on the left pan against the parcel on the right pan","targets":[{"label":"the parcel on the left pan","location":"left_pan","position_task":[-0.4751827420524717,0.14966529013023117,0.11717512746268144],"stack":{"below":null,"above":[],"members":["parcel_0"]},"candidate_ids":["parcel_0"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_0","generated_at_tick":3313,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.2133343579202305,-3.7001823801701192,1.0371751274626815],"stack_contact_pairs":[]},{"label":"the parcel on the right pan","location":"right_pan","position_task":[-0.04857568724374355,0.09521468159105702,0.04702306585176286],"stack":{"below":null,"above":[],"members":["parcel_2"]},"candidate_ids":["parcel_2"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_2","generated_at_tick":3313,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.2677846933793755,-3.2735752905065154,0.9670230658517629],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"right pan down","beam_deg":10.838,"raw_beam_deg":10.838,"zero_deg":0.0,"info":{"known_normal":[],"known_odd":[],"unknown":["parcel_3","parcel_4","parcel_5"]}},{"caption":"take the parcel on the right pan off the right pan","start":3348,"end":3615,"kind":"take","part":"parcel_2","side":"right","caption_grounding":{"version":2,"start_tick":3348,"caption":"take the parcel on the right pan off the right pan","targets":[{"label":"the parcel on the right pan","location":"right_pan","position_task":[-0.04844901332014781,0.09519953171400201,0.047085225321597424],"stack":{"below":null,"above":[],"members":["parcel_2"]},"candidate_ids":["parcel_2"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_2","generated_at_tick":3348,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.267799843175344,-3.273448616573222,0.9670852253215975],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the right pan is empty and the parcel is in the hand","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_3","parcel_4","parcel_5"]}},{"caption":"put the parcel in the gripper back on the counter","start":3615,"end":3817,"kind":"place","part":"parcel_2","side":"right","caption_grounding":{"version":2,"start_tick":3615,"caption":"put the parcel in the gripper back on the counter","targets":[{"label":"the parcel in the gripper","location":"hand","position_task":[-0.04987973733396101,-0.06452374159064414,0.23697983705678072],"stack":{"below":null,"above":[],"members":["parcel_2"]},"candidate_ids":["parcel_2"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_2","generated_at_tick":3615,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.4275231173957934,-3.274879238344857,1.1569798370567808],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel stands back on the counter","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_3","parcel_4","parcel_5"]}},{"caption":"pick up the right parcel on the counter","start":3817,"end":3987,"kind":"take","part":"parcel_3","side":"right","caption_grounding":{"version":2,"start_tick":3817,"caption":"pick up the right parcel on the counter","targets":[{"label":"the right parcel on the counter","location":"counter","position_task":[-0.1624440000086545,-0.1219649999997771,0.02494659483925943],"stack":{"below":null,"above":[],"members":["parcel_3"]},"candidate_ids":["parcel_3"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_3","generated_at_tick":3817,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.484964447859632,-3.3874434642501874,0.9449465948392595],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel is in the hand","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_3","parcel_4","parcel_5"]}},{"caption":"put the parcel in the gripper on the right pan","start":3987,"end":4220,"kind":"place","part":"parcel_3","side":"right","caption_grounding":{"version":2,"start_tick":3987,"caption":"put the parcel in the gripper on the right pan","targets":[{"label":"the parcel in the gripper","location":"hand","position_task":[-0.06591393955565765,-0.13377684834695544,0.23636714243659018],"stack":{"below":null,"above":[],"members":["parcel_3"]},"candidate_ids":["parcel_3"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_3","generated_at_tick":3987,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.4967762344159157,-3.2909133962362014,1.1563671424365902],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel rests on the right pan","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_3","parcel_4","parcel_5"]}},{"caption":"weigh the parcel on the left pan against the parcel on the right pan","start":4220,"end":4255,"kind":"weigh","parts":["parcel_0","parcel_3"],"side":"both","caption_grounding":{"version":2,"start_tick":4220,"caption":"weigh the parcel on the left pan against the parcel on the right pan","targets":[{"label":"the parcel on the left pan","location":"left_pan","position_task":[-0.4753496426265077,0.1496835060022821,0.11719369103337118],"stack":{"below":null,"above":[],"members":["parcel_0"]},"candidate_ids":["parcel_0"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_0","generated_at_tick":4220,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.213316142155016,-3.7003492807558156,1.0371936910333712],"stack_contact_pairs":[]},{"label":"the parcel on the right pan","location":"right_pan","position_task":[-0.04766696131864273,0.09625898558049995,0.04675513575687229],"stack":{"below":null,"above":[],"members":["parcel_3"]},"candidate_ids":["parcel_3"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_3","generated_at_tick":4220,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.2667403888082385,-3.2726665652498954,0.9667551357568723],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"right pan down","beam_deg":10.837,"raw_beam_deg":10.837,"zero_deg":0.0,"info":{"known_normal":[],"known_odd":[],"unknown":["parcel_4","parcel_5"]}},{"caption":"take the parcel on the left pan off the left pan","start":4255,"end":4549,"kind":"take","part":"parcel_0","side":"left","caption_grounding":{"version":2,"start_tick":4255,"caption":"take the parcel on the left pan off the left pan","targets":[{"label":"the parcel on the left pan","location":"left_pan","position_task":[-0.47518920595790937,0.14966437076734632,0.11708940209399976],"stack":{"below":null,"above":[],"members":["parcel_0"]},"candidate_ids":["parcel_0"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_0","generated_at_tick":4255,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.213335277287253,-3.7001888440749684,1.0370894020939998],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the left pan is empty and the parcel is in the hand","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_4","parcel_5"]}},{"caption":"put the parcel in the gripper back on the counter","start":4549,"end":4756,"kind":"place","part":"parcel_0","side":"left","caption_grounding":{"version":2,"start_tick":4549,"caption":"put the parcel in the gripper back on the counter","targets":[{"label":"the parcel in the gripper","location":"hand","position_task":[-0.47705529786201195,-0.12702437921217155,0.22925929531097744],"stack":{"below":null,"above":[],"members":["parcel_0"]},"candidate_ids":["parcel_0"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_0","generated_at_tick":4549,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.4900240284612383,-3.702054758864867,1.1492592953109775],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel stands back on the counter","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_4","parcel_5"]}},{"caption":"take the parcel on the right pan off the right pan","start":4756,"end":5021,"kind":"take","part":"parcel_3","side":"right","caption_grounding":{"version":2,"start_tick":4756,"caption":"take the parcel on the right pan off the right pan","targets":[{"label":"the parcel on the right pan","location":"right_pan","position_task":[-0.04823436299829756,0.0963266949068471,0.04320172088929963],"stack":{"below":null,"above":[],"members":["parcel_3"]},"candidate_ids":["parcel_3"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_3","generated_at_tick":4756,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.266672679845097,-3.2732339669728923,0.9632017208892997],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the right pan is empty and the parcel is in the hand","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_4","parcel_5"]}},{"caption":"put the parcel in the gripper back on the counter","start":5021,"end":5225,"kind":"place","part":"parcel_3","side":"right","caption_grounding":{"version":2,"start_tick":5021,"caption":"put the parcel in the gripper back on the counter","targets":[{"label":"the parcel in the gripper","location":"hand","position_task":[-0.04977545159549306,-0.0633697082078588,0.23650853809683714],"stack":{"below":null,"above":[],"members":["parcel_3"]},"candidate_ids":["parcel_3"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_3","generated_at_tick":5021,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.426369083946253,-3.27477495334511,1.1565085380968372],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel stands back on the counter","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_4","parcel_5"]}},{"caption":"pick up the back-right parcel on the counter","start":5225,"end":5421,"kind":"take","part":"parcel_2","side":"left","caption_grounding":{"version":2,"start_tick":5225,"caption":"pick up the back-right parcel on the counter","targets":[{"label":"the back-right parcel on the counter","location":"counter","position_task":[0.15823890665230195,-0.039441764281327084,0.024946594839257097],"stack":{"below":null,"above":[],"members":["parcel_2"]},"candidate_ids":["parcel_2"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_2","generated_at_tick":5225,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.402441006865424,-3.0667606104141303,0.9449465948392571],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel is in the hand","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_4","parcel_5"]}},{"caption":"put the parcel in the gripper on the left pan","start":5421,"end":5705,"kind":"place","part":"parcel_2","side":"left","caption_grounding":{"version":2,"start_tick":5421,"caption":"put the parcel in the gripper on the left pan","targets":[{"label":"the parcel in the gripper","location":"hand","position_task":[0.14476704266166615,-0.17048226758351592,0.233917097180537],"stack":{"below":null,"above":[],"members":["parcel_2"]},"candidate_ids":["parcel_2"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_2","generated_at_tick":5421,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.533481518791205,-3.080232390523021,1.153917097180537],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel rests on the left pan","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_4","parcel_5"]}},{"caption":"pick up the front-right parcel on the counter","start":5705,"end":5920,"kind":"take","part":"parcel_1","side":"right","caption_grounding":{"version":2,"start_tick":5705,"caption":"pick up the front-right parcel on the counter","targets":[{"label":"the front-right parcel on the counter","location":"counter","position_task":[0.03487319164317513,-0.1964216370511441,0.02494659483925943],"stack":{"below":null,"above":[],"members":["parcel_1"]},"candidate_ids":["parcel_1"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_1","generated_at_tick":5705,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.55942095860416,-3.1901262249371616,0.9449465948392595],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel is in the hand","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_4","parcel_5"]}},{"caption":"put the parcel in the gripper on the right pan","start":5920,"end":6151,"kind":"place","part":"parcel_1","side":"right","caption_grounding":{"version":2,"start_tick":5920,"caption":"put the parcel in the gripper on the right pan","targets":[{"label":"the parcel in the gripper","location":"hand","position_task":[0.022056176080207424,-0.31926605579479395,0.2351496200160864],"stack":{"below":null,"above":[],"members":["parcel_1"]},"candidate_ids":["parcel_1"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_1","generated_at_tick":5920,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.682265385552222,-3.202943161864868,1.1551496200160865],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel rests on the right pan","info":{"known_normal":[],"known_odd":[],"unknown":["parcel_4","parcel_5"]}},{"caption":"weigh the parcel on the left pan against the parcel on the right pan","start":6151,"end":6186,"kind":"weigh","parts":["parcel_2","parcel_1"],"side":"both","caption_grounding":{"version":2,"start_tick":6151,"caption":"weigh the parcel on the left pan against the parcel on the right pan","targets":[{"label":"the parcel on the left pan","location":"left_pan","position_task":[-0.45799441417596,0.14452175549005064,0.06046950398051443],"stack":{"below":null,"above":[],"members":["parcel_2"]},"candidate_ids":["parcel_2"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_2","generated_at_tick":6151,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.218477881557805,-3.682994049001128,0.9804695039805145],"stack_contact_pairs":[]},{"label":"the parcel on the right pan","location":"right_pan","position_task":[-0.03728424738840557,0.09599419493452437,0.10247991653230992],"stack":{"below":null,"above":[],"members":["parcel_1"]},"candidate_ids":["parcel_1"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_1","generated_at_tick":6151,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.2670051728080236,-3.2622838511501624,1.02247991653231],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"left pan down","beam_deg":-6.574,"raw_beam_deg":-6.574,"zero_deg":0.0,"info":{"known_normal":[],"known_odd":["parcel_0"],"unknown":["parcel_3","parcel_4","parcel_5"]}},{"caption":"take the parcel on the right pan off the right pan","start":6186,"end":6438,"kind":"take","part":"parcel_1","side":"right","caption_grounding":{"version":2,"start_tick":6186,"caption":"take the parcel on the right pan off the right pan","targets":[{"label":"the parcel on the right pan","location":"right_pan","position_task":[-0.037299918963772966,0.09599630503596968,0.10245801017115286],"stack":{"below":null,"above":[],"members":["parcel_1"]},"candidate_ids":["parcel_1"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_1","generated_at_tick":6186,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.26700306271661,-3.2622995227268805,1.022458010171153],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the right pan is empty and the parcel is in the hand","info":{"known_normal":[],"known_odd":["parcel_0"],"unknown":["parcel_3","parcel_4","parcel_5"]}},{"caption":"put the parcel in the gripper back on the counter","start":6438,"end":6628,"kind":"place","part":"parcel_1","side":"right","caption_grounding":{"version":2,"start_tick":6438,"caption":"put the parcel in the gripper back on the counter","targets":[{"label":"the parcel in the gripper","location":"hand","position_task":[-0.041711148235326685,-0.07439506763735762,0.23553522333689825],"stack":{"below":null,"above":[],"members":["parcel_1"]},"candidate_ids":["parcel_1"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_1","generated_at_tick":6438,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.4373944382136217,-3.266710642927384,1.1555352233368983],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel stands back on the counter","info":{"known_normal":[],"known_odd":["parcel_0"],"unknown":["parcel_3","parcel_4","parcel_5"]}},{"caption":"pick up the front-right parcel on the counter","start":6628,"end":6823,"kind":"take","part":"parcel_3","side":"right","caption_grounding":{"version":2,"start_tick":6628,"caption":"pick up the front-right parcel on the counter","targets":[{"label":"the front-right parcel on the counter","location":"counter","position_task":[-0.14020297572139234,-0.17781610846267587,0.024946594839256986],"stack":{"below":null,"above":[],"members":["parcel_3"]},"candidate_ids":["parcel_3"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_3","generated_at_tick":6628,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.540815542085579,-3.3652024042114776,0.944946594839257],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel is in the hand","info":{"known_normal":[],"known_odd":["parcel_0"],"unknown":["parcel_3","parcel_4","parcel_5"]}},{"caption":"put the parcel in the gripper on the right pan","start":6823,"end":7054,"kind":"place","part":"parcel_3","side":"right","caption_grounding":{"version":2,"start_tick":6823,"caption":"put the parcel in the gripper on the right pan","targets":[{"label":"the parcel in the gripper","location":"hand","position_task":[-0.1464213414494344,-0.30979404980494357,0.2339152547795601],"stack":{"below":null,"above":[],"members":["parcel_3"]},"candidate_ids":["parcel_3"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_3","generated_at_tick":6823,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.6727934874083243,-3.3714206854577027,1.1539152547795601],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel rests on the right pan","info":{"known_normal":[],"known_odd":["parcel_0"],"unknown":["parcel_3","parcel_4","parcel_5"]}},{"caption":"weigh the parcel on the left pan against the parcel on the right pan","start":7054,"end":7089,"kind":"weigh","parts":["parcel_2","parcel_3"],"side":"both","caption_grounding":{"version":2,"start_tick":7054,"caption":"weigh the parcel on the left pan against the parcel on the right pan","targets":[{"label":"the parcel on the left pan","location":"left_pan","position_task":[-0.45910359709885,0.14465429384329137,0.08098765999272606],"stack":{"below":null,"above":[],"members":["parcel_2"]},"candidate_ids":["parcel_2"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_2","generated_at_tick":7054,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.2183453439145753,-3.6841032320088583,1.000987659992726],"stack_contact_pairs":[]},{"label":"the parcel on the right pan","location":"right_pan","position_task":[-0.04462592332403546,0.09537386626575595,0.080833104706315],"stack":{"below":null,"above":[],"members":["parcel_3"]},"candidate_ids":["parcel_3"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_3","generated_at_tick":7054,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.267625506176351,-3.2696255266887055,1.000833104706315],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"level","beam_deg":0.014,"raw_beam_deg":0.014,"zero_deg":0.0,"info":{"known_normal":[],"known_odd":["parcel_0"],"unknown":["parcel_4","parcel_5"]}},{"caption":"take the parcel on the right pan off the right pan","start":7089,"end":7344,"kind":"take","part":"parcel_3","side":"right","caption_grounding":{"version":2,"start_tick":7089,"caption":"take the parcel on the right pan off the right pan","targets":[{"label":"the parcel on the right pan","location":"right_pan","position_task":[-0.04470592215107156,0.09538352901349799,0.08077758541358782],"stack":{"below":null,"above":[],"members":["parcel_3"]},"candidate_ids":["parcel_3"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_3","generated_at_tick":7089,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.2676158434798177,-3.269705525521927,1.0007775854135879],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the right pan is empty and the parcel is in the hand","info":{"known_normal":[],"known_odd":["parcel_0"],"unknown":["parcel_4","parcel_5"]}},{"caption":"put the parcel in the gripper back on the counter","start":7344,"end":7550,"kind":"place","part":"parcel_3","side":"right","caption_grounding":{"version":2,"start_tick":7344,"caption":"put the parcel in the gripper back on the counter","targets":[{"label":"the parcel in the gripper","location":"hand","position_task":[-0.0481924665470838,-0.06375779202270299,0.23707816338612642],"stack":{"below":null,"above":[],"members":["parcel_3"]},"candidate_ids":["parcel_3"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_3","generated_at_tick":7344,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.4267571667477954,-3.2731919680482804,1.1570781633861265],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel stands back on the counter","info":{"known_normal":[],"known_odd":["parcel_0"],"unknown":["parcel_4","parcel_5"]}},{"caption":"pick up the leftmost front-left parcel on the counter","start":7550,"end":7803,"kind":"take","part":"parcel_4","side":"right","caption_grounding":{"version":2,"start_tick":7550,"caption":"pick up the leftmost front-left parcel on the counter","targets":[{"label":"the leftmost front-left parcel on the counter","location":"counter","position_task":[-0.8240001378835684,-0.20418403834583917,0.024946594839256986],"stack":{"below":null,"above":[],"members":["parcel_4"]},"candidate_ids":["parcel_4"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_4","generated_at_tick":7550,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.5671839096814733,-4.048999549494855,0.944946594839257],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel is in the hand","info":{"known_normal":[],"known_odd":["parcel_0"],"unknown":["parcel_4","parcel_5"]}},{"caption":"put the parcel in the gripper on the right pan","start":7803,"end":8106,"kind":"place","part":"parcel_4","side":"right","caption_grounding":{"version":2,"start_tick":7803,"caption":"put the parcel in the gripper on the right pan","targets":[{"label":"the parcel in the gripper","location":"hand","position_task":[-0.8174084945885572,-0.3433170862176367,0.23354034165345616],"stack":{"below":null,"above":[],"members":["parcel_4"]},"candidate_ids":["parcel_4"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_4","generated_at_tick":7803,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.7063169533337947,-4.042407817137898,1.1535403416534562],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel rests on the right pan","info":{"known_normal":[],"known_odd":["parcel_0"],"unknown":["parcel_4","parcel_5"]}},{"caption":"weigh the parcel on the left pan against the parcel on the right pan","start":8106,"end":8141,"kind":"weigh","parts":["parcel_2","parcel_4"],"side":"both","caption_grounding":{"version":2,"start_tick":8106,"caption":"weigh the parcel on the left pan against the parcel on the right pan","targets":[{"label":"the parcel on the left pan","location":"left_pan","position_task":[-0.45922357332756686,0.14466816331070753,0.0809647179283507],"stack":{"below":null,"above":[],"members":["parcel_2"]},"candidate_ids":["parcel_2"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_2","generated_at_tick":8106,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.2183314745239584,-3.684223208246453,1.0009647179283507],"stack_contact_pairs":[]},{"label":"the parcel on the right pan","location":"right_pan","position_task":[-0.04444653056463938,0.09550572443185205,0.08077433994348959],"stack":{"below":null,"above":[],"members":["parcel_4"]},"candidate_ids":["parcel_4"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_4","generated_at_tick":8106,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.2674936478954217,-3.2694461340137146,1.0007743399434896],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"level","beam_deg":0.014,"raw_beam_deg":0.014,"zero_deg":0.0,"info":{"known_normal":[],"known_odd":["parcel_0"],"unknown":["parcel_5"]}},{"caption":"take the parcel on the right pan off the right pan","start":8141,"end":8392,"kind":"take","part":"parcel_4","side":"right","caption_grounding":{"version":2,"start_tick":8141,"caption":"take the parcel on the right pan off the right pan","targets":[{"label":"the parcel on the right pan","location":"right_pan","position_task":[-0.044513672729634406,0.09551375594320284,0.08072698072820994],"stack":{"below":null,"above":[],"members":["parcel_4"]},"candidate_ids":["parcel_4"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_4","generated_at_tick":8141,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.26748561642705,-3.269513276183851,1.00072698072821],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the right pan is empty and the parcel is in the hand","info":{"known_normal":[],"known_odd":["parcel_0"],"unknown":["parcel_5"]}},{"caption":"put the parcel in the gripper back on the counter","start":8392,"end":8625,"kind":"place","part":"parcel_4","side":"right","caption_grounding":{"version":2,"start_tick":8392,"caption":"put the parcel in the gripper back on the counter","targets":[{"label":"the parcel in the gripper","location":"hand","position_task":[-0.04742328759534801,-0.07919398581242389,0.23495751252463892],"stack":{"below":null,"above":[],"members":["parcel_4"]},"candidate_ids":["parcel_4"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_4","generated_at_tick":8392,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.4421933600451458,-3.272422779215517,1.154957512524639],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel stands back on the counter","info":{"known_normal":[],"known_odd":["parcel_0"],"unknown":["parcel_5"]}},{"caption":"pick up the left parcel on the counter","start":8625,"end":8878,"kind":"take","part":"parcel_5","side":"right","caption_grounding":{"version":2,"start_tick":8625,"caption":"pick up the left parcel on the counter","targets":[{"label":"the left parcel on the counter","location":"counter","position_task":[-0.3187028682531333,-0.14088464692092098,0.02494659483925943],"stack":{"below":null,"above":[],"members":["parcel_5"]},"candidate_ids":["parcel_5"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_5","generated_at_tick":8625,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.5038841948053125,-3.543702320383776,0.9449465948392595],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel is in the hand","info":{"known_normal":[],"known_odd":["parcel_0"],"unknown":["parcel_5"]}},{"caption":"put the parcel in the gripper on the right pan","start":8878,"end":9161,"kind":"place","part":"parcel_5","side":"right","caption_grounding":{"version":2,"start_tick":8878,"caption":"put the parcel in the gripper on the right pan","targets":[{"label":"the parcel in the gripper","location":"hand","position_task":[-0.3034873374032467,-0.2712004206891755,0.23342770278052238],"stack":{"below":null,"above":[],"members":["parcel_5"]},"candidate_ids":["parcel_5"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_5","generated_at_tick":8878,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.6341999588337637,-3.5284867061160647,1.1534277027805224],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel rests on the right pan","info":{"known_normal":[],"known_odd":["parcel_0"],"unknown":["parcel_5"]}},{"caption":"weigh the parcel on the left pan against the parcel on the right pan","start":9161,"end":9196,"kind":"weigh","parts":["parcel_2","parcel_5"],"side":"both","caption_grounding":{"version":2,"start_tick":9161,"caption":"weigh the parcel on the left pan against the parcel on the right pan","targets":[{"label":"the parcel on the left pan","location":"left_pan","position_task":[-0.459457949300997,0.1446964810533104,0.081019929482674],"stack":{"below":null,"above":[],"members":["parcel_2"]},"candidate_ids":["parcel_2"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_2","generated_at_tick":9161,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.2183031569313845,-3.68445758423801,1.001019929482674],"stack_contact_pairs":[]},{"label":"the parcel on the right pan","location":"right_pan","position_task":[-0.044235725835827175,0.09607415422784023,0.08060830664867968],"stack":{"below":null,"above":[],"members":["parcel_5"]},"candidate_ids":["parcel_5"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_5","generated_at_tick":9161,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.266925217964493,-3.269235329648766,1.0006083066486797],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"level","beam_deg":0.018,"raw_beam_deg":0.018,"zero_deg":0.0,"info":{"known_normal":["parcel_2","parcel_3","parcel_4","parcel_5"],"known_odd":["parcel_0","parcel_1"],"unknown":[]}},{"caption":"take the parcel on the left pan off the left pan","start":9196,"end":9492,"kind":"take","part":"parcel_2","side":"left","caption_grounding":{"version":2,"start_tick":9196,"caption":"take the parcel on the left pan off the left pan","targets":[{"label":"the parcel on the left pan","location":"left_pan","position_task":[-0.45938000352809294,0.1446871332308237,0.08096880164919618],"stack":{"below":null,"above":[],"members":["parcel_2"]},"candidate_ids":["parcel_2"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_2","generated_at_tick":9196,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.2183125047039765,-3.6843796384591223,1.0009688016491962],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the left pan is empty and the parcel is in the hand","info":{"known_normal":["parcel_2","parcel_3","parcel_4","parcel_5"],"known_odd":["parcel_0","parcel_1"],"unknown":[]}},{"caption":"put the parcel in the gripper back on the counter","start":9492,"end":9697,"kind":"place","part":"parcel_2","side":"left","caption_grounding":{"version":2,"start_tick":9492,"caption":"put the parcel in the gripper back on the counter","targets":[{"label":"the parcel in the gripper","location":"hand","position_task":[-0.450846081068436,-0.10876917293648784,0.2306411157487539],"stack":{"below":null,"above":[],"members":["parcel_2"]},"candidate_ids":["parcel_2"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_2","generated_at_tick":9492,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.4717688054084954,-3.675845553756832,1.150641115748754],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel stands back on the counter","info":{"known_normal":["parcel_2","parcel_3","parcel_4","parcel_5"],"known_odd":["parcel_0","parcel_1"],"unknown":[]}},{"caption":"take the parcel on the right pan off the right pan","start":9697,"end":9969,"kind":"take","part":"parcel_5","side":"right","caption_grounding":{"version":2,"start_tick":9697,"caption":"take the parcel on the right pan off the right pan","targets":[{"label":"the parcel on the right pan","location":"right_pan","position_task":[-0.048057308014382794,0.09653027364619987,0.043156749628406765],"stack":{"below":null,"above":[],"members":["parcel_5"]},"candidate_ids":["parcel_5"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_5","generated_at_tick":9697,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.2664691009924076,-3.2730569121192925,0.9631567496284068],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the right pan is empty and the parcel is in the hand","info":{"known_normal":["parcel_2","parcel_3","parcel_4","parcel_5"],"known_odd":["parcel_0","parcel_1"],"unknown":[]}},{"caption":"put the parcel in the gripper back on the counter","start":9969,"end":10236,"kind":"place","part":"parcel_5","side":"right","caption_grounding":{"version":2,"start_tick":9969,"caption":"put the parcel in the gripper back on the counter","targets":[{"label":"the parcel in the gripper","location":"hand","position_task":[-0.054949378349929225,-0.07783812967734863,0.2346287118204694],"stack":{"below":null,"above":[],"members":["parcel_5"]},"candidate_ids":["parcel_5"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_5","generated_at_tick":9969,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.4408375087276775,-3.2799488708380085,1.1546287118204694],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel stands back on the counter","info":{"known_normal":["parcel_2","parcel_3","parcel_4","parcel_5"],"known_odd":["parcel_0","parcel_1"],"unknown":[]}},{"caption":"pick up the leftmost front-left parcel on the counter","start":10236,"end":10460,"kind":"take","part":"parcel_0","caption_grounding":{"version":2,"start_tick":10236,"caption":"pick up the leftmost front-left parcel on the counter","targets":[{"label":"the leftmost front-left parcel on the counter","location":"counter","position_task":[-0.485303116824851,-0.17635210785701536,0.02494659483925943],"stack":{"below":null,"above":[],"members":["parcel_0"]},"candidate_ids":["parcel_0"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_0","generated_at_tick":10236,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.539351762385672,-3.7103025462520027,0.9449465948392595],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel is in the hand","info":{"known_normal":["parcel_2","parcel_3","parcel_4","parcel_5"],"known_odd":["parcel_0","parcel_1"],"unknown":[]}},{"caption":"put the parcel in the gripper in the box","start":10460,"end":10728,"kind":"place","part":"parcel_0","level":0,"caption_grounding":{"version":2,"start_tick":10460,"caption":"put the parcel in the gripper in the box","targets":[{"label":"the parcel in the gripper","location":"hand","position_task":[-0.47242880117089503,-0.30086003962659746,0.2357323890352102],"stack":{"below":null,"above":[],"members":["parcel_0"]},"candidate_ids":["parcel_0"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_0","generated_at_tick":10460,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.663859685914112,-3.6974281508979416,1.1557323890352103],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the box holds 1 parcel(s)","info":{"known_normal":["parcel_2","parcel_3","parcel_4","parcel_5"],"known_odd":["parcel_0","parcel_1"],"unknown":[]}},{"caption":"pick up the rightmost front-left parcel on the counter","start":10728,"end":10922,"kind":"take","part":"parcel_1","caption_grounding":{"version":2,"start_tick":10728,"caption":"pick up the rightmost front-left parcel on the counter","targets":[{"label":"the rightmost front-left parcel on the counter","location":"counter","position_task":[0.11299005236613895,-0.09533710306717108,0.02494659483925943],"stack":{"below":null,"above":[],"members":["parcel_1"]},"candidate_ids":["parcel_1"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_1","generated_at_tick":10728,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.458336374615986,-3.112009428920519,0.9449465948392595],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the parcel is in the hand","info":{"known_normal":["parcel_2","parcel_3","parcel_4","parcel_5"],"known_odd":["parcel_0","parcel_1"],"unknown":[]}},{"caption":"put the parcel in the gripper in the box","start":10922,"end":11155,"kind":"place","part":"parcel_1","level":1,"caption_grounding":{"version":2,"start_tick":10922,"caption":"put the parcel in the gripper in the box","targets":[{"label":"the parcel in the gripper","location":"hand","position_task":[0.12785861326848655,-0.225012391793584,0.23491213950646272],"stack":{"below":null,"above":[],"members":["parcel_1"]},"candidate_ids":["parcel_1"],"unique":true,"frame":"task_work_frame","frame_description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed.","separation_m":0.03,"visibility_checked":false,"grounding_source":"current simulator poses and contacts; no mass/answer labels","target":"parcel_1","generated_at_tick":10922,"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"position_world":[2.588011653824698,-3.0971407850103345,1.1549121395064628],"stack_contact_pairs":[]}],"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the box holds 2 parcel(s)","info":{"known_normal":["parcel_2","parcel_3","parcel_4","parcel_5"],"known_odd":["parcel_0","parcel_1"],"unknown":[]}},{"caption":"look over the counter before submitting","start":11155,"end":11196,"kind":"probe","caption_grounding":{"version":2,"start_tick":11155,"caption":"look over the counter before submitting","targets":[],"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the box holds the parcels that weigh differently, the pans are empty and the balance stands where it stood","info":{"known_normal":["parcel_2","parcel_3","parcel_4","parcel_5"],"known_odd":["parcel_0","parcel_1"],"unknown":[]}},{"caption":"press Submit","start":11196,"end":11311,"kind":"submit","caption_grounding":{"version":2,"start_tick":11196,"caption":"press Submit","targets":[],"reference_frame":{"name":"task_work_frame","origin_world":[2.3629993438761088,-3.2249995423138906,0.92],"yaw_rad":1.5707969669156234,"description":"Left/right are from the starting aisle facing the work counter; front is the aisle edge and back is away from it. The frame stays fixed."},"action_hash_binding":"External grounding report binds these segments to the final action log SHA256","automated_visual_pass":false},"outcome":"the button is pressed","info":{"known_normal":["parcel_2","parcel_3","parcel_4","parcel_5"],"known_odd":["parcel_0","parcel_1"],"unknown":[]}}] |
